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1541 | trimarchi | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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10 | * (see the web pages for full authors list) |
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11 | * |
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12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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13 | * |
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14 | * http://www.sssup.it |
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15 | * http://retis.sssup.it |
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16 | * http://shark.sssup.it |
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17 | */ |
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18 | |||
19 | /* |
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20 | * Copyright (C) 2002 Paolo Gai |
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21 | * |
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22 | * This program is free software; you can redistribute it and/or modify |
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23 | * it under the terms of the GNU General Public License as published by |
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24 | * the Free Software Foundation; either version 2 of the License, or |
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25 | * (at your option) any later version. |
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26 | * |
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27 | * This program is distributed in the hope that it will be useful, |
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28 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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29 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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30 | * GNU General Public License for more details. |
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31 | * |
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32 | * You should have received a copy of the GNU General Public License |
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33 | * along with this program; if not, write to the Free Software |
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34 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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35 | * |
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36 | */ |
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37 | |||
38 | #include "kernel/kern.h" |
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39 | |||
40 | #include "modules/edf.h" |
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41 | #include "modules/cbs.h" |
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42 | |||
43 | #include "pthread.h" |
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44 | #include "modules/posix.h" |
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45 | |||
46 | #include "fsf.h" |
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47 | #include "grubstar.h" |
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48 | #include "fsf_server.h" |
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49 | #include "modules/dummy.h" |
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50 | |||
51 | #include "modules/sem.h" |
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52 | #include "modules/pi.h" |
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53 | #include "modules/pc.h" |
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54 | |||
55 | #include "modules/hartport.h" |
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56 | #include "modules/cabs.h" |
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57 | |||
58 | #include "drivers/keyb.h" |
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59 | #include <stdlib.h> |
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60 | |||
61 | // -------------------------------------------------- |
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62 | // -------------------------------------------------- |
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63 | // Init Part |
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64 | // -------------------------------------------------- |
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65 | // -------------------------------------------------- |
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66 | |||
67 | /*+ sysyem tick in us +*/ |
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68 | #define TICK 0 |
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69 | |||
70 | /*+ RR tick in us +*/ |
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71 | #define RRTICK 10000 |
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72 | |||
73 | int grubstar_level; |
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74 | int posix_level; |
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75 | |||
76 | |||
77 | TIME __kernel_register_levels__(void *arg) |
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78 | { |
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79 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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80 | |||
81 | EDF_register_level(EDF_ENABLE_ALL); |
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82 | posix_level=POSIX_register_level(RRTICK, 1, mb, 32); |
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83 | grubstar_level = GRUBSTAR_register_level(5, 0); |
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84 | FSF_register_module(posix_level,grubstar_level, (int)(MAX_BANDWIDTH * 0.9)); |
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85 | dummy_register_level(); |
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86 | |||
87 | // for the keyboard... |
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88 | CBS_register_level(CBS_ENABLE_ALL, 0); |
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89 | |||
90 | PI_register_module(); |
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91 | PC_register_module(); |
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92 | |||
93 | SEM_register_module(); |
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94 | |||
95 | PTHREAD_register_module(1, 0, 1); |
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96 | |||
97 | return TICK; |
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98 | |||
99 | } |
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100 | |||
101 | |||
102 | TASK __init__(void *arg) |
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103 | { |
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104 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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105 | |||
106 | HARTPORT_init(); |
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107 | |||
108 | KEYB_init(NULL); |
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109 | |||
110 | __call_main__(mb); |
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111 | |||
112 | return (void *)0; |
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113 | |||
114 | } |
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115 | |||
116 | // -------------------------------------------------- |
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117 | // -------------------------------------------------- |
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118 | // The Test |
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119 | // -------------------------------------------------- |
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120 | // -------------------------------------------------- |
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121 | |||
122 | pthread_t j1 = -1; |
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123 | pthread_t j2 = -1; |
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124 | pthread_t j3 = -1; |
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125 | pthread_t j4 = -1; |
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126 | fsf_server_id_t server1 = -1; |
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127 | fsf_server_id_t server2 = -1; |
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128 | fsf_server_id_t server3 = -1; |
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129 | fsf_server_id_t server4 = -1; |
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130 | fsf_contract_parameters_t contract1, contract2; |
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131 | |||
132 | |||
133 | #define TASK_PERIOD 1000000 |
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134 | |||
135 | void *periodic_star(void *arg) |
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136 | { |
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137 | struct timespec actual,end,next_time; |
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138 | int actpersecond,act,cycle; |
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139 | int mean,nmean; |
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140 | bool was_deadline_missed, was_budget_overran; |
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141 | |||
142 | act = 0; |
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143 | actpersecond = 0; |
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144 | mean = 0; |
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145 | nmean = 0; |
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146 | cycle = 0; |
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147 | for (;;) { |
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148 | |||
149 | kern_gettime(&actual); |
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150 | cycle++; |
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151 | |||
152 | if (act == 0) { |
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153 | TIMESPEC_ASSIGN(&end,&actual); |
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154 | end.tv_sec++; |
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155 | } |
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156 | |||
157 | if (TIMESPEC_A_LT_B(&actual,&end)) { |
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158 | act++; |
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159 | } else { |
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160 | actpersecond = act; |
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161 | act = 0; |
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162 | mean = (mean * nmean + actpersecond) / (nmean+1); |
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163 | nmean++; |
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164 | } |
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165 | |||
166 | printf_xy(0,exec_shadow,WHITE,"Thread %3d Act_per_Second = %8d Mean = %8d Cycle = %8d", |
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167 | exec_shadow,actpersecond,mean,cycle); |
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168 | kern_gettime(&next_time); |
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169 | ADDUSEC2TIMESPEC(TASK_PERIOD, &next_time); |
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170 | fsf_schedule_next_timed_job(&next_time, NULL, NULL, &was_deadline_missed, &was_budget_overran); |
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171 | |||
172 | } |
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173 | |||
174 | return NULL; |
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175 | |||
176 | } |
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177 | |||
178 | void *star(void *arg) |
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179 | { |
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180 | struct timespec actual,end; |
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181 | int actpersecond,act; |
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182 | int mean,nmean,cycle; |
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183 | |||
184 | act = 0; |
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185 | actpersecond = 0; |
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186 | mean = 0; |
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187 | nmean = 0; |
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188 | cycle = 0; |
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189 | for (;;) { |
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190 | |||
191 | cycle++; |
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192 | kern_gettime(&actual); |
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193 | |||
194 | if (act == 0) { |
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195 | TIMESPEC_ASSIGN(&end,&actual); |
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196 | end.tv_sec++; |
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197 | } |
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198 | |||
199 | if (TIMESPEC_A_LT_B(&actual,&end)) { |
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200 | act++; |
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201 | } else { |
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202 | actpersecond = act; |
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203 | act = 0; |
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204 | mean = (mean * nmean + actpersecond) / (nmean+1); |
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205 | nmean++; |
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206 | } |
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207 | |||
208 | printf_xy(0,exec_shadow,WHITE,"Thread %3d Act_per_Second = %8d Mean = %8d Cycle = %8d", |
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209 | exec_shadow,actpersecond,mean,cycle); |
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210 | |||
211 | } |
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212 | |||
213 | return NULL; |
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214 | |||
215 | } |
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216 | |||
217 | void *edftask(void *arg) |
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218 | { |
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219 | int i,j; |
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220 | while(1) { |
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221 | for (i=0;i<5; i++) { |
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222 | for (j=0; j<10; j++); |
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223 | //cputc('#'); |
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224 | //cputs((char *)(arg)); |
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225 | } |
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226 | |||
227 | task_endcycle(); |
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228 | } |
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229 | |||
230 | return NULL; |
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231 | } |
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232 | |||
233 | |||
234 | void create() |
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235 | { |
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236 | HARD_TASK_MODEL mhard; |
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237 | |||
238 | struct timespec period1 = {0,100000000}; |
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239 | struct timespec period2 = {0,100000000}; |
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240 | struct timespec budget1 = {0,30000000}; |
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241 | struct timespec budget2 = {0,30000000}; |
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242 | |||
243 | PID t1, t2; |
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244 | int err; |
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245 | |||
246 | FSF_start_service_task(); |
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247 | |||
248 | kern_printf("(Start Create)"); |
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249 | |||
250 | hard_task_default_model(mhard); |
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251 | hard_task_def_ctrl_jet(mhard); |
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252 | hard_task_def_mit(mhard,32000); |
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253 | hard_task_def_wcet(mhard,3000); |
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254 | hard_task_def_arg(mhard,(void *)"X"); |
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255 | hard_task_def_group(mhard,1); |
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256 | hard_task_def_periodic(mhard); |
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257 | |||
258 | //t1 = task_create("X", edftask, &mhard, NULL); |
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259 | //if (t1 == NIL) { |
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260 | // perror("Could not create task X ..."); |
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261 | // sys_end(); |
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262 | //} |
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263 | |||
264 | hard_task_def_mit(mhard,32000); |
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265 | hard_task_def_wcet(mhard,3000); |
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266 | hard_task_def_arg(mhard,(void *)"Y"); |
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267 | //t2 = task_create("Y", edftask, &mhard, NULL); |
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268 | //if (t2 == NIL) { |
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269 | // perror("Could not create task Y ..."); |
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270 | // sys_end(); |
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271 | //} |
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272 | |||
273 | //group_activate(1); |
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274 | |||
275 | err = pthread_create(&j1, NULL, star, (void *)"A"); |
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276 | if (err) { |
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277 | perror("Could not create task A ..."); |
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278 | sys_end(); |
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279 | } |
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280 | |||
281 | err = pthread_create(&j2, NULL, periodic_star, (void *)"B"); |
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282 | if (err) { |
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283 | perror("Could not create task B ..."); |
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284 | sys_end(); |
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285 | } |
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286 | |||
287 | err = pthread_create(&j3, NULL, star, (void *)"C"); |
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288 | if (err) { |
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289 | perror("Could not create task C ..."); |
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290 | sys_end(); |
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291 | } |
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292 | |||
293 | err = pthread_create(&j4, NULL, periodic_star, (void *)"D"); |
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294 | if (err) { |
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295 | perror("Could not create task D ..."); |
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296 | sys_end(); |
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297 | } |
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298 | |||
299 | fsf_initialize_contract(&contract1); |
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300 | fsf_set_contract_basic_parameters(&contract1,&budget1,&period1,FSF_DEFAULT_WORKLOAD); |
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301 | fsf_initialize_contract(&contract2); |
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302 | fsf_set_contract_basic_parameters(&contract2,&budget2,&period2,FSF_DEFAULT_WORKLOAD); |
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303 | |||
304 | kern_printf("(End Create)"); |
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305 | |||
306 | } |
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307 | |||
308 | int main(int argc, char **argv) |
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309 | { |
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310 | |||
311 | char ch = 0; |
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312 | int err; |
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313 | |||
314 | create(); |
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315 | |||
316 | do { |
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317 | ch = keyb_getch(BLOCK); |
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318 | |||
319 | switch(ch) { |
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320 | case '1': |
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321 | err = fsf_bind_thread_to_server(server1,j1); |
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322 | kern_printf("(%d)",err); |
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323 | break; |
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324 | case '2': |
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325 | err = fsf_bind_thread_to_server(server2,j2); |
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326 | kern_printf("(%d)",err); |
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327 | break; |
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328 | case '3': |
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329 | err = fsf_bind_thread_to_server(server1,j3); |
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330 | kern_printf("(%d)",err); |
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331 | break; |
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332 | case '4': |
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333 | err = fsf_bind_thread_to_server(server2,j4); |
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334 | kern_printf("(%d)",err); |
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335 | break; |
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336 | case '5': |
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337 | err = fsf_unbind_thread_from_server(j1); |
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338 | kern_printf("(%d)",err); |
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339 | break; |
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340 | case '6': |
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341 | err = fsf_unbind_thread_from_server(j2); |
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342 | kern_printf("(%d)",err); |
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343 | break; |
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344 | case '7': |
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345 | err = fsf_unbind_thread_from_server(j3); |
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346 | kern_printf("(%d)",err); |
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347 | break; |
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348 | case '8': |
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349 | err = fsf_unbind_thread_from_server(j4); |
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350 | kern_printf("(%d)",err); |
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351 | break; |
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352 | case 'q': |
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353 | err = fsf_negotiate_contract(&contract1,&server1); |
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354 | cprintf("(%d)",err); |
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355 | break; |
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356 | case 'w': |
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357 | err = fsf_negotiate_contract(&contract2,&server2); |
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358 | kern_printf("(%d)",err); |
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359 | break; |
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360 | case 'e': |
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361 | err = fsf_negotiate_contract(&contract1,&server3); |
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362 | kern_printf("(%d)",err); |
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363 | break; |
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364 | case 'r': |
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365 | err = fsf_cancel_contract(server1); |
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366 | kern_printf("(%d)",err); |
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367 | break; |
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368 | case 't': |
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369 | err = fsf_cancel_contract(server2); |
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370 | kern_printf("(%d)",err); |
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371 | break; |
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372 | case 'y': |
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373 | err = fsf_cancel_contract(server3); |
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374 | kern_printf("(%d)",err); |
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375 | break; |
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376 | |||
377 | } |
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378 | |||
379 | } while(ch != ESC); |
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380 | |||
381 | sys_end(); |
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382 | |||
383 | return 0; |
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384 | |||
385 | } |
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386 |