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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: rm.c,v 1.5 2003-05-05 07:31:44 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 07:31:44 $ |
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2 | pj | 28 | ------------ |
29 | |||
30 | This file contains the scheduling module RM (Rate Monotonic) |
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31 | |||
32 | Read rm.h for further details. |
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33 | |||
34 | This file is equal to EDF.c except for: |
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35 | |||
36 | . EDF changed to RM :-) |
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37 | . q_timespec_insert changed to q_insert |
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38 | . proc_table[p].priority is also modified when we modify lev->period[p] |
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39 | |||
40 | |||
41 | **/ |
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42 | |||
43 | /* |
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38 | pj | 44 | * Copyright (C) 2000,2002 Paolo Gai |
2 | pj | 45 | * |
46 | * This program is free software; you can redistribute it and/or modify |
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47 | * it under the terms of the GNU General Public License as published by |
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48 | * the Free Software Foundation; either version 2 of the License, or |
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49 | * (at your option) any later version. |
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50 | * |
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51 | * This program is distributed in the hope that it will be useful, |
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52 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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53 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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54 | * GNU General Public License for more details. |
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55 | * |
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56 | * You should have received a copy of the GNU General Public License |
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57 | * along with this program; if not, write to the Free Software |
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58 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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59 | * |
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60 | */ |
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61 | |||
62 | |||
63 | #include <modules/rm.h> |
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64 | #include <ll/stdio.h> |
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65 | #include <ll/string.h> |
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66 | #include <kernel/model.h> |
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67 | #include <kernel/descr.h> |
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68 | #include <kernel/var.h> |
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69 | #include <kernel/func.h> |
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70 | #include <kernel/trace.h> |
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71 | |||
72 | /*+ Status used in the level +*/ |
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73 | #define RM_READY MODULE_STATUS_BASE /*+ - Ready status +*/ |
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74 | #define RM_WCET_VIOLATED MODULE_STATUS_BASE+2 /*+ when wcet is finished +*/ |
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75 | #define RM_WAIT MODULE_STATUS_BASE+3 /*+ to wait the deadline +*/ |
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76 | #define RM_IDLE MODULE_STATUS_BASE+4 /*+ to wait the deadline +*/ |
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77 | #define RM_ZOMBIE MODULE_STATUS_BASE+5 /*+ to wait the free time +*/ |
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78 | |||
79 | /*+ flags +*/ |
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80 | #define RM_FLAG_SPORADIC 1 |
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81 | #define RM_FLAG_NORAISEEXC 2 |
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82 | |||
83 | /*+ the level redefinition for the Rate Monotonic +*/ |
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84 | typedef struct { |
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85 | level_des l; /*+ the standard level descriptor +*/ |
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86 | |||
87 | TIME period[MAX_PROC]; /*+ The task periods; the deadlines are |
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88 | stored in the priority field +*/ |
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89 | int deadline_timer[MAX_PROC]; |
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90 | /*+ The task deadline timers +*/ |
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91 | |||
92 | int flag[MAX_PROC]; |
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93 | /*+ used to manage the JOB_TASK_MODEL and the |
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94 | periodicity +*/ |
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95 | |||
29 | pj | 96 | IQUEUE ready; /*+ the ready queue +*/ |
2 | pj | 97 | |
98 | int flags; /*+ the init flags... +*/ |
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99 | |||
100 | bandwidth_t U; /*+ the used bandwidth +*/ |
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101 | |||
102 | } RM_level_des; |
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103 | |||
104 | |||
105 | static void RM_timer_deadline(void *par) |
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106 | { |
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107 | PID p = (PID) par; |
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108 | RM_level_des *lev; |
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29 | pj | 109 | struct timespec *temp; |
2 | pj | 110 | |
111 | lev = (RM_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 RM_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 RM_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 RM_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 = RM_READY; |
29 | pj | 129 | iq_priority_insert(p,&lev->ready); |
130 | lev->deadline_timer[p] = kern_event_post(temp, |
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2 | pj | 131 | RM_timer_deadline, |
132 | (void *)p); |
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133 | //printk("(d%d idle priority set to %d)",p,proc_table[p].priority ); |
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134 | event_need_reschedule(); |
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135 | printk("el%d|",p); |
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136 | break; |
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137 | |||
138 | case RM_WAIT: |
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139 | /* Without this, the task cannot be reactivated!!! */ |
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140 | proc_table[p].status = SLEEP; |
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141 | break; |
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142 | |||
143 | default: |
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144 | /* else, a deadline miss occurred!!! */ |
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145 | kern_printf("timer_deadline:AAARRRGGGHHH!!!"); |
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146 | kern_raise(XDEADLINE_MISS,p); |
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147 | } |
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148 | } |
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149 | |||
150 | static void RM_timer_guest_deadline(void *par) |
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151 | { |
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152 | PID p = (PID) par; |
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153 | |||
154 | kern_printf("AAARRRGGGHHH!!!"); |
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155 | kern_raise(XDEADLINE_MISS,p); |
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156 | } |
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157 | |||
158 | /* The scheduler only gets the first task in the queue */ |
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38 | pj | 159 | static PID RM_public_scheduler(LEVEL l) |
2 | pj | 160 | { |
161 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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162 | |||
29 | pj | 163 | return iq_query_first(&lev->ready); |
2 | pj | 164 | } |
165 | |||
166 | /* The on-line guarantee is enabled only if the appropriate flag is set... */ |
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38 | pj | 167 | static int RM_public_guarantee(LEVEL l, bandwidth_t *freebandwidth) |
2 | pj | 168 | { |
169 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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170 | |||
159 | pj | 171 | if (*freebandwidth >= lev->U) { |
172 | *freebandwidth -= lev->U; |
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173 | return 1; |
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2 | pj | 174 | } |
175 | else |
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159 | pj | 176 | return 0; |
2 | pj | 177 | } |
178 | |||
38 | pj | 179 | static int RM_public_create(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 180 | { |
181 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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182 | |||
38 | pj | 183 | HARD_TASK_MODEL *h; |
2 | pj | 184 | |
38 | pj | 185 | if (m->pclass != HARD_PCLASS) return -1; |
186 | if (m->level != 0 && m->level != l) return -1; |
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187 | h = (HARD_TASK_MODEL *)m; |
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188 | if (!h->wcet || !h->mit) return -1; |
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159 | pj | 189 | |
190 | /* update the bandwidth... */ |
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191 | if (lev->flags & RM_ENABLE_GUARANTEE) { |
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192 | bandwidth_t b; |
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193 | b = (MAX_BANDWIDTH / h->mit) * h->wcet; |
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194 | |||
195 | /* really update lev->U, checking an overflow... */ |
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196 | if (MAX_BANDWIDTH - lev->U > b) |
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197 | lev->U += b; |
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198 | else |
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199 | return -1; |
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200 | } |
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201 | |||
38 | pj | 202 | /* now we know that m is a valid model */ |
2 | pj | 203 | |
29 | pj | 204 | *iq_query_priority(p, &lev->ready) = lev->period[p] = h->mit; |
2 | pj | 205 | |
206 | if (h->periodicity == APERIODIC) |
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207 | lev->flag[p] = RM_FLAG_SPORADIC; |
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208 | else |
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209 | lev->flag[p] = 0; |
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210 | lev->deadline_timer[p] = -1; |
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211 | |||
212 | /* Enable wcet check */ |
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213 | if (lev->flags & RM_ENABLE_WCET_CHECK) { |
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214 | proc_table[p].avail_time = h->wcet; |
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215 | proc_table[p].wcet = h->wcet; |
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216 | proc_table[p].control |= CONTROL_CAP; |
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217 | } |
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218 | |||
219 | return 0; /* OK, also if the task cannot be guaranteed... */ |
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220 | } |
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221 | |||
38 | pj | 222 | static void RM_public_detach(LEVEL l, PID p) |
2 | pj | 223 | { |
224 | /* the RM level doesn't introduce any dinamic allocated new field. |
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225 | we have only to reset the NO_GUARANTEE FIELD and decrement the allocated |
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226 | bandwidth */ |
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227 | |||
228 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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229 | |||
159 | pj | 230 | if (lev->flags & RM_ENABLE_GUARANTEE) { |
2 | pj | 231 | lev->U -= (MAX_BANDWIDTH / lev->period[p]) * proc_table[p].wcet; |
159 | pj | 232 | } |
2 | pj | 233 | } |
234 | |||
38 | pj | 235 | static void RM_public_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 236 | { |
237 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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238 | |||
239 | // kern_printf("(disp %d)",p); |
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240 | |||
241 | /* the task state is set EXE by the scheduler() |
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242 | we extract the task from the ready queue |
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243 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 244 | iq_extract(p, &lev->ready); |
2 | pj | 245 | } |
246 | |||
38 | pj | 247 | static void RM_public_epilogue(LEVEL l, PID p) |
2 | pj | 248 | { |
249 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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250 | |||
251 | // kern_printf("(epil %d)",p); |
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252 | |||
253 | /* check if the wcet is finished... */ |
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254 | if ((lev->flags & RM_ENABLE_WCET_CHECK) && proc_table[p].avail_time <= 0) { |
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255 | /* if it is, raise a XWCET_VIOLATION exception */ |
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256 | kern_raise(XWCET_VIOLATION,p); |
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257 | proc_table[p].status = RM_WCET_VIOLATED; |
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258 | } |
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259 | else { |
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260 | /* the task has been preempted. it returns into the ready queue... */ |
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29 | pj | 261 | iq_priority_insert(p,&lev->ready); |
2 | pj | 262 | proc_table[p].status = RM_READY; |
263 | } |
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264 | } |
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265 | |||
38 | pj | 266 | static void RM_public_activate(LEVEL l, PID p) |
2 | pj | 267 | { |
268 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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29 | pj | 269 | struct timespec *temp; |
2 | pj | 270 | |
271 | if (proc_table[p].status == RM_WAIT) { |
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272 | kern_raise(XACTIVATION,p); |
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273 | return; |
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274 | } |
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275 | |||
276 | /* Test if we are trying to activate a non sleeping task */ |
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277 | /* Ignore this; the task is already active */ |
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278 | if (proc_table[p].status != SLEEP && |
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279 | proc_table[p].status != RM_WCET_VIOLATED) |
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280 | return; |
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281 | |||
282 | |||
283 | /* see also RM_timer_deadline */ |
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29 | pj | 284 | temp = iq_query_timespec(p, &lev->ready); |
38 | pj | 285 | kern_gettime(temp); |
29 | pj | 286 | ADDUSEC2TIMESPEC(lev->period[p], temp); |
2 | pj | 287 | |
288 | /* Insert task in the correct position */ |
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289 | proc_table[p].status = RM_READY; |
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29 | pj | 290 | iq_priority_insert(p,&lev->ready); |
2 | pj | 291 | |
292 | /* Set the deadline timer */ |
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29 | pj | 293 | lev->deadline_timer[p] = kern_event_post(temp, |
2 | pj | 294 | RM_timer_deadline, |
295 | (void *)p); |
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296 | } |
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297 | |||
38 | pj | 298 | static void RM_public_unblock(LEVEL l, PID p) |
2 | pj | 299 | { |
300 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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301 | |||
38 | pj | 302 | /* Similar to RM_task_activate, |
303 | but we don't check in what state the task is */ |
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2 | pj | 304 | |
305 | /* Insert task in the correct position */ |
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306 | proc_table[p].status = RM_READY; |
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29 | pj | 307 | iq_priority_insert(p,&lev->ready); |
2 | pj | 308 | } |
309 | |||
38 | pj | 310 | static void RM_public_block(LEVEL l, PID p) |
2 | pj | 311 | { |
312 | /* Extract the running task from the level |
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313 | . we have already extract it from the ready queue at the dispatch time. |
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314 | . the capacity event have to be removed by the generic kernel |
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315 | . the wcet don't need modification... |
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316 | . the state of the task is set by the calling function |
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317 | . the deadline must remain... |
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318 | |||
319 | So, we do nothing!!! |
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320 | */ |
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321 | } |
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322 | |||
38 | pj | 323 | static int RM_public_message(LEVEL l, PID p, void *m) |
2 | pj | 324 | { |
325 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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326 | |||
327 | /* the task has terminated his job before it consume the wcet. All OK! */ |
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328 | if (lev->flag[p] & RM_FLAG_SPORADIC) |
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329 | proc_table[p].status = RM_WAIT; |
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330 | else /* pclass = sporadic_pclass */ |
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331 | proc_table[p].status = RM_IDLE; |
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332 | |||
333 | /* we reset the capacity counters... */ |
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334 | if (lev->flags & RM_ENABLE_WCET_CHECK) |
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335 | proc_table[p].avail_time = proc_table[p].wcet; |
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336 | |||
38 | pj | 337 | jet_update_endcycle(); /* Update the Jet data... */ |
338 | trc_logevent(TRC_ENDCYCLE,&exec_shadow); /* tracer stuff */ |
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339 | |||
2 | pj | 340 | /* when the deadline timer fire, it recognize the situation and set |
38 | pj | 341 | correctly all the stuffs (like reactivation, sleep, etc... ) */ |
342 | |||
343 | return 0; |
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2 | pj | 344 | } |
345 | |||
38 | pj | 346 | static void RM_public_end(LEVEL l, PID p) |
2 | pj | 347 | { |
348 | proc_table[p].status = RM_ZOMBIE; |
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349 | |||
350 | /* When the deadline timer fire, it put the task descriptor in |
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351 | the free queue, and free the allocated bandwidth... */ |
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352 | } |
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353 | |||
38 | pj | 354 | static void RM_private_insert(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 355 | { |
356 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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38 | pj | 357 | JOB_TASK_MODEL *job; |
2 | pj | 358 | |
38 | pj | 359 | if (m->pclass != JOB_PCLASS || (m->level != 0 && m->level != l) ) { |
360 | kern_raise(XINVALID_TASK, p); |
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361 | return; |
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362 | } |
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2 | pj | 363 | |
38 | pj | 364 | job = (JOB_TASK_MODEL *)m; |
2 | pj | 365 | |
29 | pj | 366 | *iq_query_timespec(p,&lev->ready) = job->deadline; |
38 | pj | 367 | *iq_query_priority(p, &lev->ready) = lev->period[p] = job->period; |
2 | pj | 368 | |
369 | lev->deadline_timer[p] = -1; |
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370 | |||
38 | pj | 371 | /* Insert task in the correct position */ |
372 | iq_priority_insert(p,&lev->ready); |
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373 | proc_table[p].status = RM_READY; |
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374 | |||
2 | pj | 375 | if (job->noraiseexc) |
376 | lev->flag[p] = RM_FLAG_NORAISEEXC; |
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38 | pj | 377 | else { |
2 | pj | 378 | lev->flag[p] = 0; |
38 | pj | 379 | lev->deadline_timer[p] = kern_event_post(iq_query_timespec(p, &lev->ready), |
380 | RM_timer_guest_deadline, |
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381 | (void *)p); |
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382 | } |
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2 | pj | 383 | } |
384 | |||
38 | pj | 385 | static void RM_private_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 386 | { |
387 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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388 | |||
389 | /* the task state is set to EXE by the scheduler() |
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390 | we extract the task from the ready queue |
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391 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 392 | iq_extract(p, &lev->ready); |
2 | pj | 393 | } |
394 | |||
38 | pj | 395 | static void RM_private_epilogue(LEVEL l, PID p) |
2 | pj | 396 | { |
397 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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398 | |||
399 | /* the task has been preempted. it returns into the ready queue... */ |
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29 | pj | 400 | iq_priority_insert(p,&lev->ready); |
2 | pj | 401 | proc_table[p].status = RM_READY; |
402 | } |
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403 | |||
38 | pj | 404 | static void RM_private_extract(LEVEL l, PID p) |
2 | pj | 405 | { |
406 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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407 | |||
408 | //kern_printf("RM_guest_end: dline timer %d\n",lev->deadline_timer[p]); |
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409 | if (proc_table[p].status == RM_READY) |
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410 | { |
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29 | pj | 411 | iq_extract(p, &lev->ready); |
2 | pj | 412 | //kern_printf("(g_end rdy extr)"); |
413 | } |
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414 | |||
415 | /* we remove the deadline timer, because the slice is finished */ |
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416 | if (lev->deadline_timer[p] != NIL) { |
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417 | // kern_printf("RM_guest_end: dline timer %d\n",lev->deadline_timer[p]); |
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38 | pj | 418 | kern_event_delete(lev->deadline_timer[p]); |
2 | pj | 419 | lev->deadline_timer[p] = NIL; |
420 | } |
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421 | |||
422 | } |
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423 | |||
424 | /* Registration functions */ |
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425 | |||
426 | /*+ Registration function: |
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427 | int flags the init flags ... see rm.h +*/ |
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38 | pj | 428 | LEVEL RM_register_level(int flags) |
2 | pj | 429 | { |
430 | LEVEL l; /* the level that we register */ |
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431 | RM_level_des *lev; /* for readableness only */ |
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432 | PID i; /* a counter */ |
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433 | |||
434 | printk("RM_register_level\n"); |
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435 | |||
436 | /* request an entry in the level_table */ |
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38 | pj | 437 | l = level_alloc_descriptor(sizeof(RM_level_des)); |
2 | pj | 438 | |
38 | pj | 439 | lev = (RM_level_des *)level_table[l]; |
2 | pj | 440 | |
441 | printk(" lev=%d\n",(int)lev); |
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442 | |||
443 | /* fill the standard descriptor */ |
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38 | pj | 444 | lev->l.private_insert = RM_private_insert; |
445 | lev->l.private_extract = RM_private_extract; |
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446 | lev->l.private_dispatch = RM_private_dispatch; |
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447 | lev->l.private_epilogue = RM_private_epilogue; |
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2 | pj | 448 | |
38 | pj | 449 | lev->l.public_scheduler = RM_public_scheduler; |
2 | pj | 450 | if (flags & RM_ENABLE_GUARANTEE) |
38 | pj | 451 | lev->l.public_guarantee = RM_public_guarantee; |
2 | pj | 452 | else |
38 | pj | 453 | lev->l.public_guarantee = NULL; |
2 | pj | 454 | |
38 | pj | 455 | lev->l.public_create = RM_public_create; |
456 | lev->l.public_detach = RM_public_detach; |
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457 | lev->l.public_end = RM_public_end; |
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458 | lev->l.public_dispatch = RM_public_dispatch; |
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459 | lev->l.public_epilogue = RM_public_epilogue; |
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460 | lev->l.public_activate = RM_public_activate; |
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461 | lev->l.public_unblock = RM_public_unblock; |
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462 | lev->l.public_block = RM_public_block; |
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463 | lev->l.public_message = RM_public_message; |
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2 | pj | 464 | |
465 | /* fill the RM descriptor part */ |
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466 | for(i=0; i<MAX_PROC; i++) { |
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467 | lev->period[i] = 0; |
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468 | lev->deadline_timer[i] = -1; |
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469 | lev->flag[i] = 0; |
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470 | } |
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471 | |||
29 | pj | 472 | iq_init(&lev->ready, &freedesc, 0); |
159 | pj | 473 | lev->flags = flags; |
2 | pj | 474 | lev->U = 0; |
38 | pj | 475 | |
476 | return l; |
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2 | pj | 477 | } |
478 | |||
479 | bandwidth_t RM_usedbandwidth(LEVEL l) |
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480 | { |
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481 | RM_level_des *lev = (RM_level_des *)(level_table[l]); |
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38 | pj | 482 | |
483 | return lev->U; |
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2 | pj | 484 | } |
485 |