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2 | pj | 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 | * Paolo Gai <pj@gandalf.sssup.it> |
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10 | * Massimiliano Giorgi <massy@gandalf.sssup.it> |
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11 | * Luca Abeni <luca@gandalf.sssup.it> |
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12 | * (see the web pages for full authors list) |
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13 | * |
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14 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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15 | * |
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16 | * http://www.sssup.it |
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17 | * http://retis.sssup.it |
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18 | * http://shark.sssup.it |
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19 | */ |
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20 | |||
21 | /** |
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22 | ------------ |
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159 | pj | 23 | CVS : $Id: edf.c,v 1.5 2003-05-05 07:31:43 pj Exp $ |
2 | pj | 24 | |
25 | File: $File$ |
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159 | pj | 26 | Revision: $Revision: 1.5 $ |
27 | Last update: $Date: 2003-05-05 07:31:43 $ |
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2 | pj | 28 | ------------ |
29 | |||
30 | This file contains the scheduling module EDF (Earliest Deadline First) |
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31 | |||
32 | Read edf.h for further details. |
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33 | |||
34 | **/ |
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35 | |||
36 | /* |
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38 | pj | 37 | * Copyright (C) 2000,2002 Paolo Gai |
2 | pj | 38 | * |
39 | * This program is free software; you can redistribute it and/or modify |
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40 | * it under the terms of the GNU General Public License as published by |
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41 | * the Free Software Foundation; either version 2 of the License, or |
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42 | * (at your option) any later version. |
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43 | * |
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44 | * This program is distributed in the hope that it will be useful, |
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45 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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46 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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47 | * GNU General Public License for more details. |
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48 | * |
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49 | * You should have received a copy of the GNU General Public License |
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50 | * along with this program; if not, write to the Free Software |
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51 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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52 | * |
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53 | */ |
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54 | |||
55 | |||
56 | #include <modules/edf.h> |
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57 | #include <ll/stdio.h> |
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58 | #include <ll/string.h> |
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59 | #include <kernel/model.h> |
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60 | #include <kernel/descr.h> |
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61 | #include <kernel/var.h> |
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62 | #include <kernel/func.h> |
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63 | #include <kernel/trace.h> |
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64 | |||
38 | pj | 65 | //#define EDFDEBUG |
66 | #define edf_printf kern_printf |
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2 | pj | 67 | |
68 | /*+ Status used in the level +*/ |
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69 | #define EDF_READY MODULE_STATUS_BASE /*+ - Ready status +*/ |
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70 | #define EDF_WCET_VIOLATED MODULE_STATUS_BASE+2 /*+ when wcet is finished +*/ |
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71 | #define EDF_WAIT MODULE_STATUS_BASE+3 /*+ to wait the deadline +*/ |
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72 | #define EDF_IDLE MODULE_STATUS_BASE+4 /*+ to wait the deadline +*/ |
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73 | #define EDF_ZOMBIE MODULE_STATUS_BASE+5 /*+ to wait the free time +*/ |
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74 | |||
75 | /*+ flags +*/ |
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76 | #define EDF_FLAG_SPORADIC 1 |
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77 | #define EDF_FLAG_NORAISEEXC 2 |
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78 | |||
79 | /*+ the level redefinition for the Earliest Deadline First level +*/ |
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80 | typedef struct { |
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81 | level_des l; /*+ the standard level descriptor +*/ |
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82 | |||
83 | TIME period[MAX_PROC]; /*+ The task periods; the deadlines are |
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84 | stored in the priority field +*/ |
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85 | int deadline_timer[MAX_PROC]; |
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86 | /*+ The task deadline timers +*/ |
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87 | |||
88 | int flag[MAX_PROC]; |
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89 | /*+ used to manage the JOB_TASK_MODEL and the |
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90 | periodicity +*/ |
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91 | |||
29 | pj | 92 | IQUEUE ready; /*+ the ready queue +*/ |
2 | pj | 93 | |
94 | int flags; /*+ the init flags... +*/ |
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95 | |||
96 | bandwidth_t U; /*+ the used bandwidth +*/ |
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97 | |||
98 | } EDF_level_des; |
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99 | |||
100 | |||
101 | static void EDF_timer_deadline(void *par) |
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102 | { |
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103 | PID p = (PID) par; |
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104 | EDF_level_des *lev; |
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29 | pj | 105 | struct timespec *temp; |
2 | pj | 106 | |
38 | pj | 107 | #ifdef EDFDEBUG |
2 | pj | 108 | edf_printf("$"); |
38 | pj | 109 | #endif |
2 | pj | 110 | |
111 | lev = (EDF_level_des *)level_table[proc_table[p].task_level]; |
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112 | |||
113 | switch (proc_table[p].status) { |
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114 | case EDF_ZOMBIE: |
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115 | /* we finally put the task in the ready queue */ |
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116 | proc_table[p].status = FREE; |
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29 | pj | 117 | iq_insertfirst(p,&freedesc); |
2 | pj | 118 | /* and free the allocated bandwidth */ |
119 | lev->U -= (MAX_BANDWIDTH/lev->period[p]) * proc_table[p].wcet; |
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120 | break; |
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121 | |||
122 | case EDF_IDLE: |
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123 | /* tracer stuff */ |
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124 | trc_logevent(TRC_INTACTIVATION,&p); |
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125 | /* similar to EDF_task_activate */ |
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29 | pj | 126 | temp = iq_query_timespec(p,&lev->ready); |
127 | ADDUSEC2TIMESPEC(lev->period[p], temp); |
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2 | pj | 128 | proc_table[p].status = EDF_READY; |
29 | pj | 129 | iq_timespec_insert(p,&lev->ready); |
130 | lev->deadline_timer[p] = kern_event_post(temp, |
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2 | pj | 131 | EDF_timer_deadline, |
132 | (void *)p); |
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38 | pj | 133 | #ifdef EDFDEBUG |
29 | pj | 134 | edf_printf("(dline p%d ev%d %d.%d)",(int)p,(int)lev->deadline_timer[p],(int)temp->tv_sec,(int)temp->tv_nsec/1000); |
38 | pj | 135 | #endif |
2 | pj | 136 | event_need_reschedule(); |
137 | break; |
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138 | |||
139 | case EDF_WAIT: |
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140 | /* Without this, the task cannot be reactivated!!! */ |
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141 | proc_table[p].status = SLEEP; |
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142 | break; |
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143 | |||
144 | default: |
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145 | /* else, a deadline miss occurred!!! */ |
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38 | pj | 146 | #ifdef EDFDEBUG |
2 | pj | 147 | edf_printf("\nstatus %d\n", (int)proc_table[p].status); |
148 | edf_printf("timer_deadline:AAARRRGGGHHH!!!"); |
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38 | pj | 149 | #endif |
2 | pj | 150 | kern_raise(XDEADLINE_MISS,p); |
151 | } |
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152 | } |
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153 | |||
154 | static void EDF_timer_guest_deadline(void *par) |
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155 | { |
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156 | PID p = (PID) par; |
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157 | |||
38 | pj | 158 | #ifdef EDFDEBUG |
2 | pj | 159 | edf_printf("AAARRRGGGHHH!!!"); |
38 | pj | 160 | #endif |
2 | pj | 161 | kern_raise(XDEADLINE_MISS,p); |
162 | } |
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163 | |||
38 | pj | 164 | /* The scheduler only gets the first task in the queue */ |
165 | static PID EDF_public_scheduler(LEVEL l) |
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2 | pj | 166 | { |
167 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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168 | |||
38 | pj | 169 | #ifdef EDFDEBUG |
170 | edf_printf("(s%d)", iq_query_first(&lev->ready)); |
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171 | #endif |
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2 | pj | 172 | |
29 | pj | 173 | return iq_query_first(&lev->ready); |
2 | pj | 174 | } |
175 | |||
176 | /* The on-line guarantee is enabled only if the appropriate flag is set... */ |
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38 | pj | 177 | static int EDF_public_guarantee(LEVEL l, bandwidth_t *freebandwidth) |
2 | pj | 178 | { |
179 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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180 | |||
159 | pj | 181 | if (*freebandwidth >= lev->U) { |
182 | *freebandwidth -= lev->U; |
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183 | return 1; |
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2 | pj | 184 | } |
185 | else |
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159 | pj | 186 | return 0; |
2 | pj | 187 | } |
188 | |||
38 | pj | 189 | static int EDF_public_create(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 190 | { |
191 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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38 | pj | 192 | HARD_TASK_MODEL *h; |
2 | pj | 193 | |
38 | pj | 194 | if (m->pclass != HARD_PCLASS) return -1; |
195 | if (m->level != 0 && m->level != l) return -1; |
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196 | h = (HARD_TASK_MODEL *)m; |
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197 | if (!h->wcet || !h->mit) return -1; |
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159 | pj | 198 | |
199 | /* check the free bandwidth... */ |
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200 | if (lev->flags & EDF_ENABLE_GUARANTEE) { |
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201 | bandwidth_t b; |
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202 | b = (MAX_BANDWIDTH / h->mit) * h->wcet; |
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203 | |||
204 | /* really update lev->U, checking an overflow... */ |
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205 | if (MAX_BANDWIDTH - lev->U > b) |
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206 | lev->U += b; |
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207 | else |
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208 | return -1; |
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209 | } |
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210 | |||
38 | pj | 211 | /* now we know that m is a valid model */ |
2 | pj | 212 | |
38 | pj | 213 | #ifdef EDFDEBUG |
214 | edf_printf("(cr%d)", p); |
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215 | #endif |
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2 | pj | 216 | |
217 | lev->period[p] = h->mit; |
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218 | |||
219 | if (h->periodicity == APERIODIC) |
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220 | lev->flag[p] = EDF_FLAG_SPORADIC; |
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221 | else |
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222 | lev->flag[p] = 0; |
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223 | lev->deadline_timer[p] = -1; |
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224 | |||
225 | /* Enable wcet check */ |
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226 | if (lev->flags & EDF_ENABLE_WCET_CHECK) { |
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227 | proc_table[p].avail_time = h->wcet; |
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228 | proc_table[p].wcet = h->wcet; |
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229 | proc_table[p].control |= CONTROL_CAP; |
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230 | } |
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231 | |||
232 | return 0; /* OK, also if the task cannot be guaranteed... */ |
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233 | } |
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234 | |||
38 | pj | 235 | static void EDF_public_detach(LEVEL l, PID p) |
2 | pj | 236 | { |
237 | /* the EDF level doesn't introduce any dinamic allocated new field. |
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159 | pj | 238 | we have only to decrement the allocated bandwidth */ |
2 | pj | 239 | |
240 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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241 | |||
38 | pj | 242 | #ifdef EDFDEBUG |
243 | edf_printf("(det%d)", p); |
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244 | #endif |
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245 | |||
159 | pj | 246 | if (lev->flags & EDF_ENABLE_GUARANTEE) { |
2 | pj | 247 | lev->U -= (MAX_BANDWIDTH / lev->period[p]) * proc_table[p].wcet; |
159 | pj | 248 | } |
2 | pj | 249 | } |
250 | |||
38 | pj | 251 | static void EDF_public_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 252 | { |
253 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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254 | |||
38 | pj | 255 | #ifdef EDFDEBUG |
2 | pj | 256 | edf_printf("(disp p%d %d.%d)",(int)p,(int)schedule_time.tv_sec,(int)schedule_time.tv_nsec/1000); |
38 | pj | 257 | #endif |
2 | pj | 258 | |
259 | /* the task state is set EXE by the scheduler() |
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260 | we extract the task from the ready queue |
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261 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 262 | iq_extract(p, &lev->ready); |
2 | pj | 263 | } |
264 | |||
38 | pj | 265 | static void EDF_public_epilogue(LEVEL l, PID p) |
2 | pj | 266 | { |
267 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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268 | |||
38 | pj | 269 | #ifdef EDFDEBUG |
2 | pj | 270 | edf_printf("(epil p%d %d.%d)",p,(int)schedule_time.tv_sec,(int)schedule_time.tv_nsec/1000); |
38 | pj | 271 | #endif |
2 | pj | 272 | |
273 | /* check if the wcet is finished... */ |
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274 | if ((lev->flags & EDF_ENABLE_WCET_CHECK) && proc_table[p].avail_time <= 0) { |
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275 | /* if it is, raise a XWCET_VIOLATION exception */ |
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276 | kern_raise(XWCET_VIOLATION,p); |
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277 | proc_table[p].status = EDF_WCET_VIOLATED; |
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278 | } |
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279 | else { |
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280 | /* the task has been preempted. it returns into the ready queue... */ |
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29 | pj | 281 | iq_timespec_insert(p,&lev->ready); |
2 | pj | 282 | proc_table[p].status = EDF_READY; |
283 | } |
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284 | } |
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285 | |||
38 | pj | 286 | static void EDF_public_activate(LEVEL l, PID p) |
2 | pj | 287 | { |
288 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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29 | pj | 289 | struct timespec *temp; |
2 | pj | 290 | |
38 | pj | 291 | #ifdef EDFDEBUG |
292 | edf_printf("(act%d)", p); |
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293 | #endif |
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294 | |||
2 | pj | 295 | if (proc_table[p].status == EDF_WAIT) { |
296 | kern_raise(XACTIVATION,p); |
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297 | return; |
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298 | } |
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299 | |||
300 | /* Test if we are trying to activate a non sleeping task */ |
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301 | /* Ignore this; the task is already active */ |
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302 | if (proc_table[p].status != SLEEP && |
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303 | proc_table[p].status != EDF_WCET_VIOLATED) |
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304 | return; |
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305 | |||
306 | |||
307 | /* see also EDF_timer_deadline */ |
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29 | pj | 308 | temp = iq_query_timespec(p, &lev->ready); |
38 | pj | 309 | kern_gettime(temp); |
29 | pj | 310 | ADDUSEC2TIMESPEC(lev->period[p], temp); |
2 | pj | 311 | |
312 | /* Insert task in the correct position */ |
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313 | proc_table[p].status = EDF_READY; |
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29 | pj | 314 | iq_timespec_insert(p,&lev->ready); |
2 | pj | 315 | |
316 | /* Set the deadline timer */ |
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29 | pj | 317 | lev->deadline_timer[p] = kern_event_post(temp, |
2 | pj | 318 | EDF_timer_deadline, |
319 | (void *)p); |
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38 | pj | 320 | #ifdef EDFDEBUG |
29 | pj | 321 | edf_printf("(dline p%d ev%d %d.%d)",p,(int)lev->deadline_timer[p],(int)temp->tv_sec,(int)temp->tv_nsec/1000); |
38 | pj | 322 | #endif |
2 | pj | 323 | } |
324 | |||
38 | pj | 325 | static void EDF_public_unblock(LEVEL l, PID p) |
2 | pj | 326 | { |
327 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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328 | |||
38 | pj | 329 | /* Similar to EDF_task_activate, |
330 | but we don't check in what state the task is */ |
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2 | pj | 331 | |
332 | /* Insert task in the coEDFect position */ |
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333 | proc_table[p].status = EDF_READY; |
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29 | pj | 334 | iq_timespec_insert(p,&lev->ready); |
2 | pj | 335 | } |
336 | |||
38 | pj | 337 | static void EDF_public_block(LEVEL l, PID p) |
2 | pj | 338 | { |
339 | /* Extract the running task from the level |
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340 | . we have already extract it from the ready queue at the dispatch time. |
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341 | . the capacity event have to be removed by the generic kernel |
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342 | . the wcet don't need modification... |
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343 | . the state of the task is set by the calling function |
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344 | . the deadline must remain... |
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345 | |||
346 | So, we do nothing!!! |
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347 | */ |
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348 | } |
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349 | |||
38 | pj | 350 | static int EDF_public_message(LEVEL l, PID p, void *m) |
2 | pj | 351 | { |
352 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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353 | |||
38 | pj | 354 | #ifdef EDFDEBUG |
2 | pj | 355 | edf_printf("(ecyc p%d %d.%d)",p,(int)schedule_time.tv_sec,(int)schedule_time.tv_nsec/1000); |
38 | pj | 356 | #endif |
2 | pj | 357 | |
358 | /* the task has terminated his job before it consume the wcet. All OK! */ |
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38 | pj | 359 | if (!lev->flag[p] & EDF_FLAG_SPORADIC) |
360 | proc_table[p].status = EDF_IDLE; |
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361 | else |
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2 | pj | 362 | proc_table[p].status = EDF_WAIT; |
363 | |||
364 | /* we reset the capacity counters... */ |
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365 | if (lev->flags & EDF_ENABLE_WCET_CHECK) |
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366 | proc_table[p].avail_time = proc_table[p].wcet; |
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367 | |||
38 | pj | 368 | jet_update_endcycle(); /* Update the Jet data... */ |
369 | trc_logevent(TRC_ENDCYCLE,&exec_shadow); /* tracer stuff */ |
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370 | |||
2 | pj | 371 | /* when the deadline timer fire, it recognize the situation and set |
38 | pj | 372 | correctly all the stuffs (like reactivation, sleep, etc... ) */ |
373 | |||
374 | return 0; |
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2 | pj | 375 | } |
376 | |||
38 | pj | 377 | static void EDF_public_end(LEVEL l, PID p) |
2 | pj | 378 | { |
379 | proc_table[p].status = EDF_ZOMBIE; |
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380 | |||
381 | /* When the deadline timer fire, it put the task descriptor in |
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382 | the free queue, and free the allocated bandwidth... */ |
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383 | } |
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384 | |||
38 | pj | 385 | static void EDF_private_insert(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 386 | { |
387 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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38 | pj | 388 | JOB_TASK_MODEL *job; |
2 | pj | 389 | |
38 | pj | 390 | if (m->pclass != JOB_PCLASS || (m->level != 0 && m->level != l) ) { |
391 | kern_raise(XINVALID_TASK, p); |
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392 | return; |
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393 | } |
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2 | pj | 394 | |
38 | pj | 395 | job = (JOB_TASK_MODEL *)m; |
2 | pj | 396 | |
38 | pj | 397 | /* Insert task in the correct position */ |
29 | pj | 398 | *iq_query_timespec(p, &lev->ready) = job->deadline; |
38 | pj | 399 | iq_timespec_insert(p,&lev->ready); |
400 | proc_table[p].status = EDF_READY; |
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2 | pj | 401 | |
402 | lev->deadline_timer[p] = -1; |
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403 | |||
38 | pj | 404 | lev->period[p] = job->period; |
405 | |||
406 | /* Set the deadline timer */ |
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407 | if (!(job->noraiseexc)) |
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2 | pj | 408 | lev->flag[p] = EDF_FLAG_NORAISEEXC; |
38 | pj | 409 | else { |
2 | pj | 410 | lev->flag[p] = 0; |
38 | pj | 411 | lev->deadline_timer[p] = kern_event_post(iq_query_timespec(p, &lev->ready), |
412 | EDF_timer_guest_deadline, |
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413 | (void *)p); |
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414 | } |
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2 | pj | 415 | } |
416 | |||
38 | pj | 417 | static void EDF_private_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 418 | { |
419 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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420 | |||
421 | /* the task state is set to EXE by the scheduler() |
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422 | we extract the task from the ready queue |
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423 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 424 | iq_extract(p, &lev->ready); |
2 | pj | 425 | } |
426 | |||
38 | pj | 427 | static void EDF_private_epilogue(LEVEL l, PID p) |
2 | pj | 428 | { |
429 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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430 | |||
431 | /* the task has been preempted. it returns into the ready queue... */ |
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29 | pj | 432 | iq_timespec_insert(p,&lev->ready); |
2 | pj | 433 | proc_table[p].status = EDF_READY; |
434 | } |
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435 | |||
38 | pj | 436 | static void EDF_private_extract(LEVEL l, PID p) |
2 | pj | 437 | { |
438 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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439 | |||
38 | pj | 440 | #ifdef EDFDEBUG |
441 | edf_printf("EDF_guest_end: dline timer %d\n",lev->deadline_timer[p]); |
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442 | #endif |
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2 | pj | 443 | if (proc_table[p].status == EDF_READY) |
29 | pj | 444 | iq_extract(p, &lev->ready); |
2 | pj | 445 | |
446 | /* we remove the deadline timer, because the slice is finished */ |
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447 | if (lev->deadline_timer[p] != NIL) { |
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38 | pj | 448 | kern_event_delete(lev->deadline_timer[p]); |
2 | pj | 449 | lev->deadline_timer[p] = NIL; |
450 | } |
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451 | |||
452 | } |
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453 | |||
454 | |||
455 | /* Registration functions */ |
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456 | |||
457 | /*+ Registration function: |
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458 | int flags the init flags ... see edf.h +*/ |
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38 | pj | 459 | LEVEL EDF_register_level(int flags) |
2 | pj | 460 | { |
461 | LEVEL l; /* the level that we register */ |
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462 | EDF_level_des *lev; /* for readableness only */ |
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463 | PID i; /* a counter */ |
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464 | |||
465 | printk("EDF_register_level\n"); |
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466 | |||
467 | /* request an entry in the level_table */ |
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38 | pj | 468 | l = level_alloc_descriptor(sizeof(EDF_level_des)); |
2 | pj | 469 | |
38 | pj | 470 | lev = (EDF_level_des *)level_table[l]; |
2 | pj | 471 | |
472 | printk(" lev=%d\n",(int)lev); |
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473 | |||
474 | /* fill the standard descriptor */ |
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38 | pj | 475 | lev->l.private_insert = EDF_private_insert; |
476 | lev->l.private_extract = EDF_private_extract; |
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477 | lev->l.private_dispatch = EDF_private_dispatch; |
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478 | lev->l.private_epilogue = EDF_private_epilogue; |
||
2 | pj | 479 | |
38 | pj | 480 | lev->l.public_scheduler = EDF_public_scheduler; |
2 | pj | 481 | if (flags & EDF_ENABLE_GUARANTEE) |
38 | pj | 482 | lev->l.public_guarantee = EDF_public_guarantee; |
2 | pj | 483 | else |
38 | pj | 484 | lev->l.public_guarantee = NULL; |
2 | pj | 485 | |
38 | pj | 486 | lev->l.public_create = EDF_public_create; |
487 | lev->l.public_detach = EDF_public_detach; |
||
488 | lev->l.public_end = EDF_public_end; |
||
489 | lev->l.public_dispatch = EDF_public_dispatch; |
||
490 | lev->l.public_epilogue = EDF_public_epilogue; |
||
491 | lev->l.public_activate = EDF_public_activate; |
||
492 | lev->l.public_unblock = EDF_public_unblock; |
||
493 | lev->l.public_block = EDF_public_block; |
||
494 | lev->l.public_message = EDF_public_message; |
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2 | pj | 495 | |
496 | /* fill the EDF descriptor part */ |
||
497 | for(i=0; i<MAX_PROC; i++) { |
||
498 | lev->period[i] = 0; |
||
499 | lev->deadline_timer[i] = -1; |
||
500 | lev->flag[i] = 0; |
||
501 | } |
||
502 | |||
29 | pj | 503 | iq_init(&lev->ready, &freedesc, 0); |
159 | pj | 504 | lev->flags = flags; |
2 | pj | 505 | lev->U = 0; |
38 | pj | 506 | |
507 | return l; |
||
2 | pj | 508 | } |
509 | |||
510 | bandwidth_t EDF_usedbandwidth(LEVEL l) |
||
511 | { |
||
512 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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38 | pj | 513 | |
514 | return lev->U; |
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2 | pj | 515 | } |
516 |