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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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38 | pj | 23 | CVS : $Id: rrsoft.c,v 1.4 2003-01-07 17:07:51 pj Exp $ |
2 | pj | 24 | |
25 | File: $File$ |
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38 | pj | 26 | Revision: $Revision: 1.4 $ |
27 | Last update: $Date: 2003-01-07 17:07:51 $ |
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2 | pj | 28 | ------------ |
29 | |||
30 | This file contains the scheduling module RRSOFT (Round Robin) |
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31 | |||
32 | Read rrsoft.h for further details. |
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33 | |||
34 | **/ |
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35 | |||
36 | /* |
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37 | * Copyright (C) 2000 Paolo Gai |
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38 | * |
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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 WARRSOFTANTY; without even the implied waRRSOFTanty 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/rrsoft.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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38 | pj | 63 | #include <kernel/trace.h> |
2 | pj | 64 | |
65 | /*+ Status used in the level +*/ |
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66 | #define RRSOFT_READY MODULE_STATUS_BASE |
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67 | #define RRSOFT_IDLE MODULE_STATUS_BASE+2 |
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68 | |||
69 | /*+ the level redefinition for the Round Robin level +*/ |
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70 | typedef struct { |
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71 | level_des l; /*+ the standard level descriptor +*/ |
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72 | |||
73 | int nact[MAX_PROC]; /*+ number of pending activations +*/ |
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74 | |||
29 | pj | 75 | IQUEUE ready; /*+ the ready queue +*/ |
2 | pj | 76 | |
77 | int slice; /*+ the level's time slice +*/ |
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78 | |||
79 | TIME period[MAX_PROC]; /*+ activation period +*/ |
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80 | |||
81 | struct timespec reactivation_time[MAX_PROC]; |
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82 | /*+ the time at witch the reactivation timer is post +*/ |
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83 | int reactivation_timer[MAX_PROC]; |
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84 | /*+ the recativation timer +*/ |
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85 | |||
86 | BYTE periodic[MAX_PROC]; |
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87 | |||
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 | |||
92 | BYTE models; /*+ Task Model that the Module can Handle +*/ |
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93 | } RRSOFT_level_des; |
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94 | |||
95 | |||
96 | /* this is the periodic reactivation of the task... it is posted only |
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97 | if the task is a periodic task */ |
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98 | static void RRSOFT_timer_reactivate(void *par) |
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99 | { |
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100 | PID p = (PID) par; |
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101 | RRSOFT_level_des *lev; |
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102 | // kern_printf("react"); |
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103 | |||
104 | lev = (RRSOFT_level_des *)level_table[proc_table[p].task_level]; |
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105 | |||
106 | if (proc_table[p].status == RRSOFT_IDLE) { |
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107 | /* the task has finished the current activation and must be |
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108 | reactivated */ |
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109 | proc_table[p].status = RRSOFT_READY; |
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29 | pj | 110 | iq_insertlast(p,&lev->ready); |
2 | pj | 111 | |
112 | event_need_reschedule(); |
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113 | } |
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114 | else if (lev->nact[p] >= 0) |
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115 | /* the task has not completed the current activation, so we save |
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116 | the activation incrementing nact... */ |
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117 | lev->nact[p]++; |
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118 | |||
119 | /* repost the event at the next period end... */ |
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120 | ADDUSEC2TIMESPEC(lev->period[p], &lev->reactivation_time[p]); |
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121 | lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p], |
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122 | RRSOFT_timer_reactivate, |
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123 | (void *)p); |
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124 | /* tracer stuff */ |
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125 | // trc_logevent(TRC_INTACTIVATION,&p); |
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126 | } |
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127 | |||
128 | /* This is not efficient but very fair :-) |
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129 | The need of all this stuff is because if a task execute a long time |
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130 | due to (shadow!) priority inheritance, then the task shall go to the |
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131 | tail of the queue many times... */ |
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38 | pj | 132 | static PID RRSOFT_public_scheduler(LEVEL l) |
2 | pj | 133 | { |
134 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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135 | |||
136 | PID p; |
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137 | |||
138 | for (;;) { |
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29 | pj | 139 | p = iq_query_first(&lev->ready); |
2 | pj | 140 | if (p == -1) |
141 | return p; |
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142 | //{kern_printf("(s%d)",p); return p;} |
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143 | |||
144 | // kern_printf("(p=%d l=%d avail=%d wcet =%d)\n",p,l,proc_table[p].avail_time, proc_table[p].wcet); |
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145 | if (proc_table[p].avail_time <= 0) { |
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146 | proc_table[p].avail_time += proc_table[p].wcet; |
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29 | pj | 147 | iq_extract(p,&lev->ready); |
148 | iq_insertlast(p,&lev->ready); |
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2 | pj | 149 | } |
150 | else |
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151 | //{kern_printf("(s%d)",p); return p;} |
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152 | return p; |
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153 | |||
154 | } |
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155 | } |
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156 | |||
38 | pj | 157 | static int RRSOFT_public_create(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 158 | { |
159 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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160 | |||
161 | // kern_printf("create %d mod %d\n",p,m->pclass); |
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162 | /* the task state is set at SLEEP by the general task_create |
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163 | the only thing to set remains the capacity stuffs that are set |
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164 | to the values passed in the model... */ |
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165 | |||
38 | pj | 166 | if ( !(m->pclass==NRT_PCLASS && lev->models & RRSOFT_ONLY_NRT ) ) return -1; |
167 | if ( !(m->pclass==SOFT_PCLASS && lev->models & RRSOFT_ONLY_SOFT) ) return -1; |
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168 | if ( !(m->pclass==HARD_PCLASS && lev->models & RRSOFT_ONLY_HARD) ) return -1; |
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169 | if (m->level != 0 && m->level != l) return -1; |
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170 | |||
2 | pj | 171 | /* I used the wcet field because using wcet can account if a task |
172 | consume more than the timeslice... */ |
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173 | |||
174 | if (lev->models & RRSOFT_ONLY_NRT && |
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175 | (m->pclass == NRT_PCLASS || m->pclass == (NRT_PCLASS | l))) { |
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176 | NRT_TASK_MODEL *nrt = (NRT_TASK_MODEL *)m; |
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177 | |||
178 | // kern_printf("nrt"); |
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179 | if (nrt->slice) { |
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180 | proc_table[p].avail_time = nrt->slice; |
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181 | proc_table[p].wcet = nrt->slice; |
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182 | } |
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183 | else { |
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184 | proc_table[p].avail_time = lev->slice; |
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185 | proc_table[p].wcet = lev->slice; |
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186 | } |
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187 | proc_table[p].control |= CONTROL_CAP; |
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188 | |||
189 | if (nrt->arrivals == SAVE_ARRIVALS) |
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190 | lev->nact[p] = 0; |
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191 | else |
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192 | lev->nact[p] = -1; |
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193 | |||
194 | lev->periodic[p] = 0; |
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195 | lev->period[p] = 0; |
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196 | } |
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197 | else if (lev->models & RRSOFT_ONLY_SOFT && |
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198 | (m->pclass == SOFT_PCLASS || m->pclass == (SOFT_PCLASS | l))) { |
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199 | SOFT_TASK_MODEL *soft = (SOFT_TASK_MODEL *)m; |
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200 | // kern_printf("soft"); |
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201 | proc_table[p].avail_time = lev->slice; |
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202 | proc_table[p].wcet = lev->slice; |
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203 | proc_table[p].control |= CONTROL_CAP; |
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204 | |||
205 | if (soft->arrivals == SAVE_ARRIVALS) |
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206 | lev->nact[p] = 0; |
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207 | else |
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208 | lev->nact[p] = -1; |
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209 | |||
210 | if (soft->periodicity == PERIODIC) { |
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211 | lev->periodic[p] = 1; |
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212 | lev->period[p] = soft->period; |
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213 | } |
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214 | } |
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215 | else if (lev->models & RRSOFT_ONLY_HARD && |
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216 | (m->pclass == HARD_PCLASS || m->pclass == (HARD_PCLASS | l))) { |
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217 | HARD_TASK_MODEL *hard = (HARD_TASK_MODEL *)m; |
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218 | // kern_printf("hard"); |
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219 | proc_table[p].avail_time = lev->slice; |
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220 | proc_table[p].wcet = lev->slice; |
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221 | proc_table[p].control |= CONTROL_CAP; |
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222 | |||
223 | lev->nact[p] = 0; |
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224 | |||
225 | if (hard->periodicity == PERIODIC) { |
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226 | lev->periodic[p] = 1; |
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227 | lev->period[p] = hard->mit; |
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228 | } |
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229 | } |
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230 | |||
231 | return 0; /* OK */ |
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232 | } |
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233 | |||
38 | pj | 234 | static void RRSOFT_public_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 235 | { |
236 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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237 | |||
238 | /* the task state is set EXE by the scheduler() |
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239 | we extract the task from the ready queue |
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240 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 241 | iq_extract(p, &lev->ready); |
2 | pj | 242 | } |
243 | |||
38 | pj | 244 | static void RRSOFT_public_epilogue(LEVEL l, PID p) |
2 | pj | 245 | { |
246 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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247 | |||
248 | /* check if the slice is finished and insert the task in the coRRSOFTect |
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249 | qqueue position */ |
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250 | if (proc_table[p].avail_time <= 0) { |
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251 | proc_table[p].avail_time += proc_table[p].wcet; |
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29 | pj | 252 | iq_insertlast(p,&lev->ready); |
2 | pj | 253 | } |
254 | else |
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255 | /* curr is >0, so the running task have to run for another cuRRSOFT usec */ |
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29 | pj | 256 | iq_insertfirst(p,&lev->ready); |
2 | pj | 257 | |
258 | proc_table[p].status = RRSOFT_READY; |
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259 | } |
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260 | |||
38 | pj | 261 | static void RRSOFT_public_activate(LEVEL l, PID p) |
2 | pj | 262 | { |
263 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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264 | |||
265 | /* Test if we are trying to activate a non sleeping task */ |
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266 | /* save activation (only if needed... */ |
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267 | if (proc_table[p].status != SLEEP && proc_table[p].status != RRSOFT_IDLE) { |
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268 | if (lev->nact[p] != -1) |
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269 | lev->nact[p]++; |
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270 | return; |
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271 | } |
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272 | |||
38 | pj | 273 | /* Insert task in the correct position */ |
2 | pj | 274 | proc_table[p].status = RRSOFT_READY; |
29 | pj | 275 | iq_insertlast(p,&lev->ready); |
2 | pj | 276 | |
277 | /* Set the reactivation timer */ |
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278 | if (lev->periodic[p]) |
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279 | { |
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38 | pj | 280 | kern_gettime(&lev->reactivation_time[p]); |
2 | pj | 281 | ADDUSEC2TIMESPEC(lev->period[p], &lev->reactivation_time[p]); |
282 | lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p], |
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283 | RRSOFT_timer_reactivate, |
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284 | (void *)p); |
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285 | } |
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286 | } |
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287 | |||
38 | pj | 288 | static void RRSOFT_public_unblock(LEVEL l, PID p) |
2 | pj | 289 | { |
290 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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291 | |||
292 | /* Similar to RRSOFT_task_activate, but we don't check in what state |
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38 | pj | 293 | the task is */ |
2 | pj | 294 | |
295 | /* Insert task in the coRRSOFTect position */ |
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296 | proc_table[p].status = RRSOFT_READY; |
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29 | pj | 297 | iq_insertlast(p,&lev->ready); |
2 | pj | 298 | } |
299 | |||
38 | pj | 300 | static void RRSOFT_public_block(LEVEL l, PID p) |
2 | pj | 301 | { |
302 | /* Extract the running task from the level |
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303 | . we have already extract it from the ready queue at the dispatch time. |
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304 | . the capacity event have to be removed by the generic kernel |
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305 | . the wcet don't need modification... |
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306 | . the state of the task is set by the calling function |
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307 | |||
308 | So, we do nothing!!! |
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309 | */ |
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310 | } |
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311 | |||
38 | pj | 312 | static int RRSOFT_public_message(LEVEL l, PID p, void *m) |
2 | pj | 313 | { |
314 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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315 | |||
316 | if (lev->nact[p] > 0) { |
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317 | /* continue!!!! */ |
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318 | lev->nact[p]--; |
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319 | // qq_insertlast(p,&lev->ready); |
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29 | pj | 320 | iq_insertfirst(p,&lev->ready); |
2 | pj | 321 | proc_table[p].status = RRSOFT_READY; |
322 | } |
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323 | else |
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324 | proc_table[p].status = RRSOFT_IDLE; |
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38 | pj | 325 | |
326 | jet_update_endcycle(); /* Update the Jet data... */ |
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327 | trc_logevent(TRC_ENDCYCLE,&exec_shadow); /* tracer stuff */ |
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328 | |||
329 | return 0; |
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2 | pj | 330 | } |
331 | |||
38 | pj | 332 | static void RRSOFT_public_end(LEVEL l, PID p) |
2 | pj | 333 | { |
334 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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335 | |||
336 | lev->nact[p] = -1; |
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337 | |||
338 | /* we delete the reactivation timer */ |
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339 | if (lev->periodic[p]) { |
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38 | pj | 340 | kern_event_delete(lev->reactivation_timer[p]); |
2 | pj | 341 | lev->reactivation_timer[p] = -1; |
342 | } |
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343 | |||
344 | /* then, we insert the task in the free queue */ |
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345 | proc_table[p].status = FREE; |
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29 | pj | 346 | iq_insertlast(p,&freedesc); |
2 | pj | 347 | } |
348 | |||
349 | /* Registration functions */ |
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350 | |||
351 | /*+ This init function install the "main" task +*/ |
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352 | static void RRSOFT_call_main(void *l) |
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353 | { |
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354 | LEVEL lev; |
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355 | PID p; |
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356 | NRT_TASK_MODEL m; |
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357 | void *mb; |
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358 | |||
359 | lev = (LEVEL)l; |
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360 | |||
361 | nrt_task_default_model(m); |
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362 | nrt_task_def_level(m,lev); /* with this we are sure that the task aRRSOFTives |
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363 | to the coRRSOFTect level */ |
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364 | |||
365 | mb = ((RRSOFT_level_des *)level_table[lev])->multiboot; |
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366 | nrt_task_def_arg(m,mb); |
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367 | nrt_task_def_usemath(m); |
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368 | nrt_task_def_nokill(m); |
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369 | nrt_task_def_ctrl_jet(m); |
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370 | |||
371 | p = task_create("Main", __init__, (TASK_MODEL *)&m, NULL); |
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372 | |||
373 | if (p == NIL) |
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374 | printk("\nPanic!!! can't create main task...\n"); |
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375 | |||
38 | pj | 376 | RRSOFT_public_activate(lev,p); |
2 | pj | 377 | } |
378 | |||
379 | |||
380 | /*+ Registration function: |
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381 | TIME slice the slice for the Round Robin queue |
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382 | int createmain 1 if the level creates the main task 0 otherwise |
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383 | struct multiboot_info *mb used if createmain specified +*/ |
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38 | pj | 384 | LEVEL RRSOFT_register_level(TIME slice, |
2 | pj | 385 | int createmain, |
386 | struct multiboot_info *mb, |
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387 | BYTE models) |
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388 | { |
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389 | LEVEL l; /* the level that we register */ |
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390 | RRSOFT_level_des *lev; /* for readableness only */ |
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391 | PID i; |
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392 | |||
393 | printk("RRSOFT_register_level\n"); |
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394 | |||
395 | /* request an entry in the level_table */ |
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38 | pj | 396 | l = level_alloc_descriptor(sizeof(RRSOFT_level_des)); |
2 | pj | 397 | |
38 | pj | 398 | lev = (RRSOFT_level_des *)level_table[l]; |
2 | pj | 399 | |
400 | printk(" lev=%d\n",(int)lev); |
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401 | |||
402 | /* fill the standard descriptor */ |
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38 | pj | 403 | lev->l.public_scheduler = RRSOFT_public_scheduler; |
404 | lev->l.public_create = RRSOFT_public_create; |
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405 | lev->l.public_end = RRSOFT_public_end; |
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406 | lev->l.public_dispatch = RRSOFT_public_dispatch; |
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407 | lev->l.public_epilogue = RRSOFT_public_epilogue; |
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408 | lev->l.public_activate = RRSOFT_public_activate; |
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409 | lev->l.public_unblock = RRSOFT_public_unblock; |
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410 | lev->l.public_block = RRSOFT_public_block; |
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411 | lev->l.public_message = RRSOFT_public_message; |
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2 | pj | 412 | |
413 | /* fill the RRSOFT descriptor part */ |
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414 | for (i = 0; i < MAX_PROC; i++) { |
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415 | lev->nact[i] = -1; |
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416 | NULL_TIMESPEC(&lev->reactivation_time[i]); |
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417 | lev->reactivation_timer[i] = -1; |
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418 | lev->periodic[i] = 0; |
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419 | lev->period[i] = 0; |
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420 | } |
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421 | |||
29 | pj | 422 | iq_init(&lev->ready, &freedesc, 0); |
2 | pj | 423 | |
424 | if (slice < RRSOFT_MINIMUM_SLICE) slice = RRSOFT_MINIMUM_SLICE; |
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425 | if (slice > RRSOFT_MAXIMUM_SLICE) slice = RRSOFT_MAXIMUM_SLICE; |
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426 | lev->slice = slice; |
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427 | |||
428 | lev->multiboot = mb; |
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429 | |||
430 | lev->models = models; |
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431 | |||
432 | if (createmain) |
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433 | sys_atrunlevel(RRSOFT_call_main,(void *) l, RUNLEVEL_INIT); |
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38 | pj | 434 | |
435 | return l; |
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2 | pj | 436 | } |
437 | |||
438 | |||
439 | |||
440 |