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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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870 | trimarchi | 23 | CVS : $Id: posix.c,v 1.10 2004-10-25 14:44:28 trimarchi Exp $ |
2 | pj | 24 | |
25 | File: $File$ |
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870 | trimarchi | 26 | Revision: $Revision: 1.10 $ |
27 | Last update: $Date: 2004-10-25 14:44:28 $ |
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2 | pj | 28 | ------------ |
29 | |||
30 | This file contains the scheduling module compatible with POSIX |
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31 | specifications |
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32 | |||
33 | Read posix.h for further details. |
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34 | |||
35 | RR tasks have the CONTROL_CAP bit set |
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36 | |||
37 | **/ |
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38 | |||
39 | /* |
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40 | * Copyright (C) 2000 Paolo Gai |
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41 | * |
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42 | * This program is free software; you can redistribute it and/or modify |
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43 | * it under the terms of the GNU General Public License as published by |
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44 | * the Free Software Foundation; either version 2 of the License, or |
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45 | * (at your option) any later version. |
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46 | * |
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47 | * This program is distributed in the hope that it will be useful, |
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48 | * but WITHOUT ANY WARR2ANTY; without even the implied waRR2anty of |
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49 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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50 | * GNU General Public License for more details. |
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51 | * |
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52 | * You should have received a copy of the GNU General Public License |
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53 | * along with this program; if not, write to the Free Software |
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54 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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55 | * |
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56 | */ |
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57 | |||
58 | |||
59 | #include <modules/posix.h> |
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60 | #include <ll/stdio.h> |
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61 | #include <ll/string.h> |
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62 | #include <kernel/model.h> |
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63 | #include <kernel/descr.h> |
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64 | #include <kernel/var.h> |
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65 | #include <kernel/func.h> |
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66 | |||
353 | giacomo | 67 | #include <tracer.h> |
870 | trimarchi | 68 | #include <modules/comm_message.h> |
353 | giacomo | 69 | |
2 | pj | 70 | /*+ Status used in the level +*/ |
71 | #define POSIX_READY MODULE_STATUS_BASE |
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72 | |||
870 | trimarchi | 73 | /*+ Use for change level in POSIX +*/ |
74 | #define POSIX_CHANGE_LEVEL 1 |
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75 | |||
76 | |||
2 | pj | 77 | /*+ the level redefinition for the Round Robin level +*/ |
78 | typedef struct { |
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79 | level_des l; /*+ the standard level descriptor +*/ |
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80 | |||
81 | int nact[MAX_PROC]; /*+ number of pending activations +*/ |
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29 | pj | 82 | |
83 | int priority[MAX_PROC]; /*+ priority of each task +*/ |
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2 | pj | 84 | |
29 | pj | 85 | IQUEUE *ready; /*+ the ready queue array +*/ |
2 | pj | 86 | |
87 | int slice; /*+ the level's time slice +*/ |
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88 | |||
89 | struct multiboot_info *multiboot; /*+ used if the level have to insert |
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90 | the main task +*/ |
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91 | int maxpriority; /*+ the priority are from 0 to maxpriority |
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92 | (i.e 0 to 31) +*/ |
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93 | |||
94 | int yielding; /*+ equal to 1 when a sched_yield is called +*/ |
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95 | |||
870 | trimarchi | 96 | /* introduce for changing level in POSIX */ |
97 | int flag[MAX_PROC]; |
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98 | |||
99 | int new_level[MAX_PROC]; |
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100 | int new_slice[MAX_PROC]; |
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101 | int new_control[MAX_PROC]; |
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102 | |||
2 | pj | 103 | } POSIX_level_des; |
104 | |||
105 | /* This is not efficient but very fair :-) |
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106 | The need of all this stuff is because if a task execute a long time |
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107 | due to (shadow!) priority inheritance, then the task shall go to the |
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108 | tail of the queue many times... */ |
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38 | pj | 109 | static PID POSIX_public_scheduler(LEVEL l) |
2 | pj | 110 | { |
111 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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112 | |||
113 | PID p; |
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114 | |||
115 | int prio; |
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116 | |||
117 | prio = lev->maxpriority; |
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118 | |||
119 | for (;;) { |
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29 | pj | 120 | p = iq_query_first(&lev->ready[prio]); |
2 | pj | 121 | if (p == NIL) { |
122 | if (prio) { |
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123 | prio--; |
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124 | continue; |
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125 | } |
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126 | else |
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127 | return NIL; |
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128 | } |
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129 | |||
130 | if ((proc_table[p].control & CONTROL_CAP) && |
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131 | (proc_table[p].avail_time <= 0)) { |
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132 | proc_table[p].avail_time += proc_table[p].wcet; |
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29 | pj | 133 | iq_extract(p,&lev->ready[prio]); |
134 | iq_insertlast(p,&lev->ready[prio]); |
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2 | pj | 135 | } |
136 | else |
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137 | return p; |
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138 | } |
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139 | } |
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140 | |||
38 | pj | 141 | static int POSIX_public_create(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 142 | { |
38 | pj | 143 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
144 | NRT_TASK_MODEL *nrt; |
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2 | pj | 145 | |
38 | pj | 146 | if (m->pclass != NRT_PCLASS) return -1; |
147 | if (m->level != 0 && m->level != l) return -1; |
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2 | pj | 148 | |
38 | pj | 149 | nrt = (NRT_TASK_MODEL *)m; |
2 | pj | 150 | |
151 | /* the task state is set at SLEEP by the general task_create */ |
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152 | |||
153 | /* I used the wcet field because using wcet can account if a task |
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154 | consume more than the timeslice... */ |
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155 | |||
156 | if (nrt->inherit == NRT_INHERIT_SCHED && |
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157 | proc_table[exec_shadow].task_level == l) { |
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158 | /* We inherit the scheduling properties if the scheduling level |
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159 | *is* the same */ |
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29 | pj | 160 | lev->priority[p] = lev->priority[exec_shadow]; |
2 | pj | 161 | |
162 | proc_table[p].avail_time = proc_table[exec_shadow].avail_time; |
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163 | proc_table[p].wcet = proc_table[exec_shadow].wcet; |
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164 | |||
165 | proc_table[p].control = (proc_table[p].control & ~CONTROL_CAP) | |
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166 | (proc_table[exec_shadow].control & CONTROL_CAP); |
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167 | |||
168 | lev->nact[p] = (lev->nact[exec_shadow] == -1) ? -1 : 0; |
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169 | } |
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170 | else { |
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29 | pj | 171 | lev->priority[p] = nrt->weight; |
2 | pj | 172 | |
173 | if (nrt->slice) { |
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174 | proc_table[p].avail_time = nrt->slice; |
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175 | proc_table[p].wcet = nrt->slice; |
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176 | } |
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177 | else { |
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178 | proc_table[p].avail_time = lev->slice; |
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179 | proc_table[p].wcet = lev->slice; |
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180 | } |
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181 | |||
182 | if (nrt->policy == NRT_RR_POLICY) |
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183 | proc_table[p].control |= CONTROL_CAP; |
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184 | |||
185 | if (nrt->arrivals == SAVE_ARRIVALS) |
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186 | lev->nact[p] = 0; |
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187 | else |
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188 | lev->nact[p] = -1; |
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189 | } |
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190 | |||
870 | trimarchi | 191 | lev->flag[p] = 0; |
192 | |||
2 | pj | 193 | return 0; /* OK */ |
194 | } |
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195 | |||
38 | pj | 196 | static void POSIX_public_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 197 | { |
198 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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199 | |||
200 | /* the task state is set EXE by the scheduler() |
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201 | we extract the task from the ready queue |
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202 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 203 | iq_extract(p, &lev->ready[lev->priority[p]]); |
2 | pj | 204 | } |
205 | |||
38 | pj | 206 | static void POSIX_public_epilogue(LEVEL l, PID p) |
2 | pj | 207 | { |
208 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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209 | |||
870 | trimarchi | 210 | /* Change task level */ |
211 | if (lev->flag[p] & POSIX_CHANGE_LEVEL) { |
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212 | |||
213 | STD_command_message msg; |
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214 | |||
215 | proc_table[p].status = SLEEP; |
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216 | proc_table[p].task_level = lev->new_level[p]; |
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217 | msg.command = STD_ACTIVATE_TASK; |
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218 | level_table[lev->new_level[p]] -> public_message(lev->new_level[p],p,&msg); |
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219 | |||
220 | return; |
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221 | |||
222 | } |
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223 | |||
2 | pj | 224 | if (lev->yielding) { |
225 | lev->yielding = 0; |
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29 | pj | 226 | iq_insertlast(p,&lev->ready[lev->priority[p]]); |
2 | pj | 227 | } |
228 | /* check if the slice is finished and insert the task in the coPOSIXect |
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229 | qqueue position */ |
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230 | else if (proc_table[p].control & CONTROL_CAP && |
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231 | proc_table[p].avail_time <= 0) { |
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232 | proc_table[p].avail_time += proc_table[p].wcet; |
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29 | pj | 233 | iq_insertlast(p,&lev->ready[lev->priority[p]]); |
2 | pj | 234 | } |
235 | else |
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29 | pj | 236 | iq_insertfirst(p,&lev->ready[lev->priority[p]]); |
2 | pj | 237 | |
238 | proc_table[p].status = POSIX_READY; |
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239 | } |
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240 | |||
657 | anton | 241 | static void POSIX_public_activate(LEVEL l, PID p, struct timespec *t) |
2 | pj | 242 | { |
243 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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244 | |||
245 | /* Test if we are trying to activate a non sleeping task */ |
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246 | /* save activation (only if needed...) */ |
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247 | if (proc_table[p].status != SLEEP) { |
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248 | if (lev->nact[p] != -1) |
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249 | lev->nact[p]++; |
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250 | return; |
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251 | } |
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252 | |||
253 | /* Insert task in the correct position */ |
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254 | proc_table[p].status = POSIX_READY; |
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29 | pj | 255 | iq_insertlast(p,&lev->ready[lev->priority[p]]); |
2 | pj | 256 | } |
257 | |||
38 | pj | 258 | static void POSIX_public_unblock(LEVEL l, PID p) |
2 | pj | 259 | { |
260 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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261 | |||
262 | /* Similar to POSIX_task_activate, but we don't check in what state |
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38 | pj | 263 | the task is */ |
2 | pj | 264 | |
265 | /* Insert task in the coPOSIXect position */ |
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266 | proc_table[p].status = POSIX_READY; |
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29 | pj | 267 | iq_insertlast(p,&lev->ready[lev->priority[p]]); |
2 | pj | 268 | } |
269 | |||
38 | pj | 270 | static void POSIX_public_block(LEVEL l, PID p) |
2 | pj | 271 | { |
272 | /* Extract the running task from the level |
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273 | . we have already extract it from the ready queue at the dispatch time. |
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274 | . the capacity event have to be removed by the generic kernel |
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275 | . the wcet don't need modification... |
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276 | . the state of the task is set by the calling function |
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277 | |||
278 | So, we do nothing!!! |
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279 | */ |
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280 | } |
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281 | |||
870 | trimarchi | 282 | #ifdef OLDVERSION |
38 | pj | 283 | static int POSIX_public_message(LEVEL l, PID p, void *m) |
2 | pj | 284 | { |
285 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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286 | |||
287 | if (lev->nact[p] > 0) { |
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288 | /* continue!!!! */ |
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289 | lev->nact[p]--; |
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29 | pj | 290 | iq_insertfirst(p,&lev->ready[lev->priority[p]]); |
2 | pj | 291 | proc_table[p].status = POSIX_READY; |
292 | } |
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293 | else |
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294 | proc_table[p].status = SLEEP; |
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38 | pj | 295 | |
296 | jet_update_endcycle(); /* Update the Jet data... */ |
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502 | giacomo | 297 | TRACER_LOGEVENT(FTrace_EVT_task_end_cycle,(unsigned short int)proc_table[p].context,(unsigned int)l); |
38 | pj | 298 | |
299 | return 0; |
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2 | pj | 300 | } |
870 | trimarchi | 301 | #else |
302 | static int POSIX_public_message(LEVEL l, PID p, void *m) |
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303 | { |
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304 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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305 | STD_command_message *msg; |
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306 | |||
307 | NRT_TASK_MODEL *nrt; |
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2 | pj | 308 | |
870 | trimarchi | 309 | /* Task Endcycle */ |
310 | switch ((long)(m)) { |
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311 | |||
312 | case (long)(NULL): |
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313 | if (lev->nact[p] > 0) { |
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314 | /* continue!!!! */ |
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315 | lev->nact[p]--; |
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316 | iq_insertfirst(p,&lev->ready[lev->priority[p]]); |
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317 | proc_table[p].status = POSIX_READY; |
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318 | } else |
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319 | proc_table[p].status = SLEEP; |
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320 | |||
321 | jet_update_endcycle(); /* Update the Jet data... */ |
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322 | TRACER_LOGEVENT(FTrace_EVT_task_end_cycle,(unsigned short int)proc_table[p].context,(unsigned int)l); |
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323 | |||
324 | break; |
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325 | |||
326 | /* Task Disable */ |
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327 | case (long)(1): |
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328 | |||
329 | break; |
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330 | |||
331 | default: |
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332 | |||
333 | msg = (STD_command_message *)m; |
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334 | |||
335 | switch(msg->command) { |
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336 | case STD_SET_NEW_LEVEL: |
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337 | |||
338 | lev->flag[p] |= POSIX_CHANGE_LEVEL; |
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339 | lev->new_level[p] = (int)(msg->param); |
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340 | |||
341 | break; |
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342 | case STD_SET_NEW_MODEL: |
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343 | |||
344 | nrt = (NRT_TASK_MODEL *)(msg->param); |
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345 | |||
346 | lev->priority[p] = nrt->weight; |
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347 | |||
348 | if (nrt->slice) { |
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349 | lev->new_slice[p] = nrt->slice; |
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350 | } else { |
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351 | lev->new_slice[p] = 0; |
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352 | } |
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353 | |||
354 | if (nrt->policy == NRT_RR_POLICY) |
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355 | lev->new_control[p] |= CONTROL_CAP; |
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356 | |||
357 | if (nrt->arrivals == SAVE_ARRIVALS) |
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358 | lev->nact[p] = 0; |
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359 | else |
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360 | lev->nact[p] = -1; |
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361 | |||
362 | lev->flag[p] = 0; |
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363 | |||
364 | break; |
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365 | |||
366 | case STD_ACTIVATE_TASK: |
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367 | |||
368 | if (lev->new_slice[p]) { |
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369 | proc_table[p].avail_time = lev->new_slice[p]; |
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370 | proc_table[p].wcet = lev->new_slice[p]; |
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371 | } else { |
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372 | proc_table[p].avail_time = lev->slice; |
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373 | proc_table[p].wcet = lev->slice; |
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374 | } |
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375 | |||
376 | proc_table[p].control = lev->new_control[p]; |
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377 | |||
378 | POSIX_public_activate(l,p, NULL); |
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379 | |||
380 | break; |
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381 | |||
382 | } |
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383 | |||
384 | break; |
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385 | |||
386 | } |
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387 | |||
388 | return 0; |
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389 | } |
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390 | |||
391 | #endif |
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392 | |||
38 | pj | 393 | static void POSIX_public_end(LEVEL l, PID p) |
2 | pj | 394 | { |
395 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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396 | |||
397 | lev->nact[p] = -1; |
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398 | |||
399 | /* then, we insert the task in the free queue */ |
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400 | proc_table[p].status = FREE; |
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29 | pj | 401 | iq_priority_insert(p,&freedesc); |
2 | pj | 402 | } |
403 | |||
404 | /* Registration functions */ |
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405 | |||
406 | /*+ This init function install the "main" task +*/ |
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407 | static void POSIX_call_main(void *l) |
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408 | { |
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409 | LEVEL lev; |
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410 | PID p; |
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411 | NRT_TASK_MODEL m; |
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412 | void *mb; |
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413 | |||
414 | lev = (LEVEL)l; |
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415 | |||
416 | nrt_task_default_model(m); |
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417 | nrt_task_def_level(m,lev); /* with this we are sure that the task aPOSIXives |
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418 | to the coPOSIXect level */ |
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419 | |||
420 | mb = ((POSIX_level_des *)level_table[lev])->multiboot; |
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421 | nrt_task_def_arg(m,mb); |
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422 | nrt_task_def_usemath(m); |
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423 | nrt_task_def_nokill(m); |
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424 | nrt_task_def_ctrl_jet(m); |
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425 | nrt_task_def_weight(m,0); |
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426 | nrt_task_def_policy(m,NRT_RR_POLICY); |
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427 | nrt_task_def_inherit(m,NRT_EXPLICIT_SCHED); |
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428 | |||
429 | p = task_create("Main", __init__, (TASK_MODEL *)&m, NULL); |
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430 | |||
431 | if (p == NIL) |
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432 | printk("\nPanic!!! can't create main task...\n"); |
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433 | |||
657 | anton | 434 | POSIX_public_activate(lev,p,NULL); |
2 | pj | 435 | } |
436 | |||
437 | |||
438 | /*+ Registration function: |
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439 | TIME slice the slice for the Round Robin queue |
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440 | int createmain 1 if the level creates the main task 0 otherwise |
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441 | struct multiboot_info *mb used if createmain specified +*/ |
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38 | pj | 442 | LEVEL POSIX_register_level(TIME slice, |
2 | pj | 443 | int createmain, |
444 | struct multiboot_info *mb, |
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445 | int prioritylevels) |
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446 | { |
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447 | LEVEL l; /* the level that we register */ |
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448 | POSIX_level_des *lev; /* for readableness only */ |
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449 | PID i; /* a counter */ |
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450 | int x; /* a counter */ |
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451 | |||
452 | printk("POSIX_register_level\n"); |
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453 | |||
38 | pj | 454 | l = level_alloc_descriptor(sizeof(POSIX_level_des)); |
2 | pj | 455 | |
38 | pj | 456 | lev = (POSIX_level_des *)level_table[l]; |
2 | pj | 457 | |
458 | /* fill the standard descriptor */ |
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38 | pj | 459 | lev->l.public_scheduler = POSIX_public_scheduler; |
460 | lev->l.public_create = POSIX_public_create; |
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461 | lev->l.public_end = POSIX_public_end; |
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462 | lev->l.public_dispatch = POSIX_public_dispatch; |
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463 | lev->l.public_epilogue = POSIX_public_epilogue; |
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464 | lev->l.public_activate = POSIX_public_activate; |
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465 | lev->l.public_unblock = POSIX_public_unblock; |
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466 | lev->l.public_block = POSIX_public_block; |
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467 | lev->l.public_message = POSIX_public_message; |
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271 | giacomo | 468 | lev->l.public_guarantee = NULL; |
2 | pj | 469 | |
470 | /* fill the POSIX descriptor part */ |
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471 | for (i = 0; i < MAX_PROC; i++) |
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472 | lev->nact[i] = -1; |
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473 | |||
474 | lev->maxpriority = prioritylevels -1; |
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475 | |||
29 | pj | 476 | lev->ready = (IQUEUE *)kern_alloc(sizeof(IQUEUE) * prioritylevels); |
2 | pj | 477 | |
478 | for (x = 0; x < prioritylevels; x++) |
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29 | pj | 479 | iq_init(&lev->ready[x], &freedesc, 0); |
2 | pj | 480 | |
481 | if (slice < POSIX_MINIMUM_SLICE) slice = POSIX_MINIMUM_SLICE; |
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482 | if (slice > POSIX_MAXIMUM_SLICE) slice = POSIX_MAXIMUM_SLICE; |
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483 | lev->slice = slice; |
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484 | |||
485 | lev->multiboot = mb; |
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486 | |||
487 | if (createmain) |
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488 | sys_atrunlevel(POSIX_call_main,(void *) l, RUNLEVEL_INIT); |
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38 | pj | 489 | |
490 | return l; |
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2 | pj | 491 | } |
492 | |||
493 | /*+ this function forces the running task to go to his queue tail; |
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494 | (it works only on the POSIX level) +*/ |
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495 | int POSIX_sched_yield(LEVEL l) |
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496 | { |
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497 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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498 | |||
499 | if (proc_table[exec_shadow].task_level != l) |
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500 | return -1; |
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501 | |||
502 | proc_table[exec_shadow].context = kern_context_save(); |
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503 | lev->yielding = 1; |
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504 | scheduler(); |
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505 | kern_context_load(proc_table[exec_shadow].context); |
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506 | return 0; |
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507 | } |
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508 | |||
509 | /*+ this function returns the maximum level allowed for the POSIX level +*/ |
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510 | int POSIX_get_priority_max(LEVEL l) |
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511 | { |
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512 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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513 | return lev->maxpriority; |
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514 | } |
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515 | |||
516 | /*+ this function returns the default timeslice for the POSIX level +*/ |
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517 | int POSIX_rr_get_interval(LEVEL l) |
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518 | { |
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519 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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520 | return lev->slice; |
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521 | } |
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522 | |||
523 | /*+ this functions returns some paramaters of a task; |
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524 | policy must be NRT_RR_POLICY or NRT_FIFO_POLICY; |
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525 | priority must be in the range [0..prioritylevels] |
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526 | returns ENOSYS or ESRCH if there are problems +*/ |
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527 | int POSIX_getschedparam(LEVEL l, PID p, int *policy, int *priority) |
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528 | { |
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529 | if (p<0 || p>= MAX_PROC || proc_table[p].status == FREE) |
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530 | return ESRCH; |
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531 | |||
532 | if (proc_table[p].task_level != l) |
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533 | return ENOSYS; |
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534 | |||
535 | if (proc_table[p].control & CONTROL_CAP) |
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536 | *policy = NRT_RR_POLICY; |
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537 | else |
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538 | *policy = NRT_FIFO_POLICY; |
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539 | |||
29 | pj | 540 | *priority = ((POSIX_level_des *)(level_table[l]))->priority[p]; |
2 | pj | 541 | |
542 | return 0; |
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543 | } |
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544 | |||
545 | /*+ this functions sets paramaters of a task +*/ |
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546 | int POSIX_setschedparam(LEVEL l, PID p, int policy, int priority) |
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547 | { |
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548 | POSIX_level_des *lev = (POSIX_level_des *)(level_table[l]); |
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549 | |||
550 | if (p<0 || p>= MAX_PROC || proc_table[p].status == FREE) |
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551 | return ESRCH; |
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552 | |||
553 | if (proc_table[p].task_level != l) |
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554 | return ENOSYS; |
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555 | |||
556 | if (policy == SCHED_RR) |
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557 | proc_table[p].control |= CONTROL_CAP; |
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558 | else if (policy == SCHED_FIFO) |
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559 | proc_table[p].control &= ~CONTROL_CAP; |
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560 | else |
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561 | return EINVAL; |
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562 | |||
29 | pj | 563 | if (lev->priority[p] != priority) { |
2 | pj | 564 | if (proc_table[p].status == POSIX_READY) { |
29 | pj | 565 | iq_extract(p,&lev->ready[lev->priority[p]]); |
566 | lev->priority[p] = priority; |
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567 | iq_insertlast(p,&lev->ready[priority]); |
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2 | pj | 568 | } |
569 | else |
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29 | pj | 570 | lev->priority[p] = priority; |
2 | pj | 571 | } |
572 | |||
573 | return 0; |
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574 | } |
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575 | |||
576 | |||
577 |