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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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385 | giacomo | 23 | CVS : $Id: rrsoft.c,v 1.7 2004-01-08 20:10:42 giacomo Exp $ |
2 | pj | 24 | |
25 | File: $File$ |
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385 | giacomo | 26 | Revision: $Revision: 1.7 $ |
27 | Last update: $Date: 2004-01-08 20:10:42 $ |
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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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63 | |||
353 | giacomo | 64 | #include <tracer.h> |
65 | |||
2 | pj | 66 | /*+ Status used in the level +*/ |
67 | #define RRSOFT_READY MODULE_STATUS_BASE |
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68 | #define RRSOFT_IDLE MODULE_STATUS_BASE+2 |
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69 | |||
70 | /*+ the level redefinition for the Round Robin level +*/ |
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71 | typedef struct { |
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72 | level_des l; /*+ the standard level descriptor +*/ |
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73 | |||
74 | int nact[MAX_PROC]; /*+ number of pending activations +*/ |
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75 | |||
29 | pj | 76 | IQUEUE ready; /*+ the ready queue +*/ |
2 | pj | 77 | |
78 | int slice; /*+ the level's time slice +*/ |
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79 | |||
80 | TIME period[MAX_PROC]; /*+ activation period +*/ |
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81 | |||
82 | struct timespec reactivation_time[MAX_PROC]; |
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83 | /*+ the time at witch the reactivation timer is post +*/ |
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84 | int reactivation_timer[MAX_PROC]; |
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85 | /*+ the recativation timer +*/ |
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86 | |||
87 | BYTE periodic[MAX_PROC]; |
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88 | |||
89 | |||
90 | struct multiboot_info *multiboot; /*+ used if the level have to insert |
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91 | the main task +*/ |
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92 | |||
93 | BYTE models; /*+ Task Model that the Module can Handle +*/ |
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94 | } RRSOFT_level_des; |
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95 | |||
96 | |||
97 | /* this is the periodic reactivation of the task... it is posted only |
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98 | if the task is a periodic task */ |
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99 | static void RRSOFT_timer_reactivate(void *par) |
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100 | { |
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101 | PID p = (PID) par; |
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102 | RRSOFT_level_des *lev; |
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103 | // kern_printf("react"); |
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104 | |||
105 | lev = (RRSOFT_level_des *)level_table[proc_table[p].task_level]; |
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106 | |||
107 | if (proc_table[p].status == RRSOFT_IDLE) { |
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108 | /* the task has finished the current activation and must be |
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109 | reactivated */ |
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110 | proc_table[p].status = RRSOFT_READY; |
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29 | pj | 111 | iq_insertlast(p,&lev->ready); |
2 | pj | 112 | |
113 | event_need_reschedule(); |
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114 | } |
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115 | else if (lev->nact[p] >= 0) |
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116 | /* the task has not completed the current activation, so we save |
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117 | the activation incrementing nact... */ |
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118 | lev->nact[p]++; |
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119 | |||
120 | /* repost the event at the next period end... */ |
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121 | ADDUSEC2TIMESPEC(lev->period[p], &lev->reactivation_time[p]); |
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122 | lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p], |
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123 | RRSOFT_timer_reactivate, |
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124 | (void *)p); |
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125 | } |
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126 | |||
127 | /* This is not efficient but very fair :-) |
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128 | The need of all this stuff is because if a task execute a long time |
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129 | due to (shadow!) priority inheritance, then the task shall go to the |
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130 | tail of the queue many times... */ |
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38 | pj | 131 | static PID RRSOFT_public_scheduler(LEVEL l) |
2 | pj | 132 | { |
133 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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134 | |||
135 | PID p; |
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136 | |||
137 | for (;;) { |
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29 | pj | 138 | p = iq_query_first(&lev->ready); |
2 | pj | 139 | if (p == -1) |
140 | return p; |
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141 | //{kern_printf("(s%d)",p); return p;} |
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142 | |||
143 | // 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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144 | if (proc_table[p].avail_time <= 0) { |
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145 | proc_table[p].avail_time += proc_table[p].wcet; |
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29 | pj | 146 | iq_extract(p,&lev->ready); |
147 | iq_insertlast(p,&lev->ready); |
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2 | pj | 148 | } |
149 | else |
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150 | //{kern_printf("(s%d)",p); return p;} |
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151 | return p; |
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152 | |||
153 | } |
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154 | } |
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155 | |||
38 | pj | 156 | static int RRSOFT_public_create(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 157 | { |
158 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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159 | |||
160 | // kern_printf("create %d mod %d\n",p,m->pclass); |
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161 | /* the task state is set at SLEEP by the general task_create |
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162 | the only thing to set remains the capacity stuffs that are set |
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163 | to the values passed in the model... */ |
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164 | |||
156 | pj | 165 | if (m->pclass==NRT_PCLASS && !(lev->models & RRSOFT_ONLY_NRT) ) return -1; |
166 | if (m->pclass==SOFT_PCLASS && !(lev->models & RRSOFT_ONLY_SOFT) ) return -1; |
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167 | if (m->pclass==HARD_PCLASS && !(lev->models & RRSOFT_ONLY_HARD) ) return -1; |
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38 | pj | 168 | if (m->level != 0 && m->level != l) return -1; |
169 | |||
2 | pj | 170 | /* I used the wcet field because using wcet can account if a task |
171 | consume more than the timeslice... */ |
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172 | |||
173 | if (lev->models & RRSOFT_ONLY_NRT && |
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174 | (m->pclass == NRT_PCLASS || m->pclass == (NRT_PCLASS | l))) { |
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175 | NRT_TASK_MODEL *nrt = (NRT_TASK_MODEL *)m; |
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176 | |||
177 | // kern_printf("nrt"); |
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178 | if (nrt->slice) { |
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179 | proc_table[p].avail_time = nrt->slice; |
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180 | proc_table[p].wcet = nrt->slice; |
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181 | } |
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182 | else { |
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183 | proc_table[p].avail_time = lev->slice; |
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184 | proc_table[p].wcet = lev->slice; |
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185 | } |
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186 | proc_table[p].control |= CONTROL_CAP; |
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187 | |||
188 | if (nrt->arrivals == SAVE_ARRIVALS) |
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189 | lev->nact[p] = 0; |
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190 | else |
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191 | lev->nact[p] = -1; |
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192 | |||
193 | lev->periodic[p] = 0; |
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194 | lev->period[p] = 0; |
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195 | } |
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196 | else if (lev->models & RRSOFT_ONLY_SOFT && |
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197 | (m->pclass == SOFT_PCLASS || m->pclass == (SOFT_PCLASS | l))) { |
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198 | SOFT_TASK_MODEL *soft = (SOFT_TASK_MODEL *)m; |
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199 | // kern_printf("soft"); |
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200 | proc_table[p].avail_time = lev->slice; |
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201 | proc_table[p].wcet = lev->slice; |
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202 | proc_table[p].control |= CONTROL_CAP; |
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203 | |||
204 | if (soft->arrivals == SAVE_ARRIVALS) |
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205 | lev->nact[p] = 0; |
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206 | else |
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207 | lev->nact[p] = -1; |
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208 | |||
209 | if (soft->periodicity == PERIODIC) { |
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210 | lev->periodic[p] = 1; |
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211 | lev->period[p] = soft->period; |
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212 | } |
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213 | } |
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214 | else if (lev->models & RRSOFT_ONLY_HARD && |
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215 | (m->pclass == HARD_PCLASS || m->pclass == (HARD_PCLASS | l))) { |
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216 | HARD_TASK_MODEL *hard = (HARD_TASK_MODEL *)m; |
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217 | // kern_printf("hard"); |
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218 | proc_table[p].avail_time = lev->slice; |
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219 | proc_table[p].wcet = lev->slice; |
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220 | proc_table[p].control |= CONTROL_CAP; |
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221 | |||
222 | lev->nact[p] = 0; |
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223 | |||
224 | if (hard->periodicity == PERIODIC) { |
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225 | lev->periodic[p] = 1; |
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226 | lev->period[p] = hard->mit; |
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227 | } |
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228 | } |
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229 | |||
230 | return 0; /* OK */ |
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231 | } |
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232 | |||
38 | pj | 233 | static void RRSOFT_public_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 234 | { |
235 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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236 | |||
237 | /* the task state is set EXE by the scheduler() |
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238 | we extract the task from the ready queue |
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239 | NB: we can't assume that p is the first task in the queue!!! */ |
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29 | pj | 240 | iq_extract(p, &lev->ready); |
2 | pj | 241 | } |
242 | |||
38 | pj | 243 | static void RRSOFT_public_epilogue(LEVEL l, PID p) |
2 | pj | 244 | { |
245 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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246 | |||
247 | /* check if the slice is finished and insert the task in the coRRSOFTect |
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248 | qqueue position */ |
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249 | if (proc_table[p].avail_time <= 0) { |
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250 | proc_table[p].avail_time += proc_table[p].wcet; |
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29 | pj | 251 | iq_insertlast(p,&lev->ready); |
2 | pj | 252 | } |
253 | else |
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254 | /* curr is >0, so the running task have to run for another cuRRSOFT usec */ |
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29 | pj | 255 | iq_insertfirst(p,&lev->ready); |
2 | pj | 256 | |
257 | proc_table[p].status = RRSOFT_READY; |
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258 | } |
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259 | |||
38 | pj | 260 | static void RRSOFT_public_activate(LEVEL l, PID p) |
2 | pj | 261 | { |
262 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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263 | |||
264 | /* Test if we are trying to activate a non sleeping task */ |
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265 | /* save activation (only if needed... */ |
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266 | if (proc_table[p].status != SLEEP && proc_table[p].status != RRSOFT_IDLE) { |
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267 | if (lev->nact[p] != -1) |
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268 | lev->nact[p]++; |
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269 | return; |
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270 | } |
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271 | |||
38 | pj | 272 | /* Insert task in the correct position */ |
2 | pj | 273 | proc_table[p].status = RRSOFT_READY; |
29 | pj | 274 | iq_insertlast(p,&lev->ready); |
2 | pj | 275 | |
276 | /* Set the reactivation timer */ |
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277 | if (lev->periodic[p]) |
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278 | { |
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38 | pj | 279 | kern_gettime(&lev->reactivation_time[p]); |
2 | pj | 280 | ADDUSEC2TIMESPEC(lev->period[p], &lev->reactivation_time[p]); |
281 | lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p], |
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282 | RRSOFT_timer_reactivate, |
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283 | (void *)p); |
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284 | } |
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285 | } |
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286 | |||
38 | pj | 287 | static void RRSOFT_public_unblock(LEVEL l, PID p) |
2 | pj | 288 | { |
289 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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290 | |||
291 | /* Similar to RRSOFT_task_activate, but we don't check in what state |
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38 | pj | 292 | the task is */ |
2 | pj | 293 | |
294 | /* Insert task in the coRRSOFTect position */ |
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295 | proc_table[p].status = RRSOFT_READY; |
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29 | pj | 296 | iq_insertlast(p,&lev->ready); |
2 | pj | 297 | } |
298 | |||
38 | pj | 299 | static void RRSOFT_public_block(LEVEL l, PID p) |
2 | pj | 300 | { |
301 | /* Extract the running task from the level |
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302 | . we have already extract it from the ready queue at the dispatch time. |
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303 | . the capacity event have to be removed by the generic kernel |
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304 | . the wcet don't need modification... |
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305 | . the state of the task is set by the calling function |
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306 | |||
307 | So, we do nothing!!! |
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308 | */ |
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309 | } |
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310 | |||
38 | pj | 311 | static int RRSOFT_public_message(LEVEL l, PID p, void *m) |
2 | pj | 312 | { |
313 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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314 | |||
315 | if (lev->nact[p] > 0) { |
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316 | /* continue!!!! */ |
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317 | lev->nact[p]--; |
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318 | // qq_insertlast(p,&lev->ready); |
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29 | pj | 319 | iq_insertfirst(p,&lev->ready); |
2 | pj | 320 | proc_table[p].status = RRSOFT_READY; |
321 | } |
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322 | else |
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323 | proc_table[p].status = RRSOFT_IDLE; |
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38 | pj | 324 | |
325 | jet_update_endcycle(); /* Update the Jet data... */ |
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385 | giacomo | 326 | TRACER_LOGEVENT(FTrace_EVT_task_end_cycle,3,proc_table[p].context,l); |
38 | pj | 327 | |
328 | return 0; |
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2 | pj | 329 | } |
330 | |||
38 | pj | 331 | static void RRSOFT_public_end(LEVEL l, PID p) |
2 | pj | 332 | { |
333 | RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]); |
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334 | |||
335 | lev->nact[p] = -1; |
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336 | |||
337 | /* we delete the reactivation timer */ |
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338 | if (lev->periodic[p]) { |
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38 | pj | 339 | kern_event_delete(lev->reactivation_timer[p]); |
2 | pj | 340 | lev->reactivation_timer[p] = -1; |
341 | } |
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342 | |||
343 | /* then, we insert the task in the free queue */ |
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344 | proc_table[p].status = FREE; |
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29 | pj | 345 | iq_insertlast(p,&freedesc); |
2 | pj | 346 | } |
347 | |||
348 | /* Registration functions */ |
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349 | |||
350 | /*+ This init function install the "main" task +*/ |
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351 | static void RRSOFT_call_main(void *l) |
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352 | { |
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353 | LEVEL lev; |
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354 | PID p; |
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355 | NRT_TASK_MODEL m; |
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356 | void *mb; |
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357 | |||
358 | lev = (LEVEL)l; |
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359 | |||
360 | nrt_task_default_model(m); |
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361 | nrt_task_def_level(m,lev); /* with this we are sure that the task aRRSOFTives |
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362 | to the coRRSOFTect level */ |
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363 | |||
364 | mb = ((RRSOFT_level_des *)level_table[lev])->multiboot; |
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365 | nrt_task_def_arg(m,mb); |
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366 | nrt_task_def_usemath(m); |
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367 | nrt_task_def_nokill(m); |
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368 | nrt_task_def_ctrl_jet(m); |
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369 | |||
370 | p = task_create("Main", __init__, (TASK_MODEL *)&m, NULL); |
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371 | |||
372 | if (p == NIL) |
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373 | printk("\nPanic!!! can't create main task...\n"); |
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374 | |||
38 | pj | 375 | RRSOFT_public_activate(lev,p); |
2 | pj | 376 | } |
377 | |||
378 | |||
379 | /*+ Registration function: |
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380 | TIME slice the slice for the Round Robin queue |
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381 | int createmain 1 if the level creates the main task 0 otherwise |
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382 | struct multiboot_info *mb used if createmain specified +*/ |
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38 | pj | 383 | LEVEL RRSOFT_register_level(TIME slice, |
2 | pj | 384 | int createmain, |
385 | struct multiboot_info *mb, |
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386 | BYTE models) |
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387 | { |
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388 | LEVEL l; /* the level that we register */ |
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389 | RRSOFT_level_des *lev; /* for readableness only */ |
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390 | PID i; |
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391 | |||
392 | printk("RRSOFT_register_level\n"); |
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393 | |||
394 | /* request an entry in the level_table */ |
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38 | pj | 395 | l = level_alloc_descriptor(sizeof(RRSOFT_level_des)); |
2 | pj | 396 | |
38 | pj | 397 | lev = (RRSOFT_level_des *)level_table[l]; |
2 | pj | 398 | |
399 | /* fill the standard descriptor */ |
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38 | pj | 400 | lev->l.public_scheduler = RRSOFT_public_scheduler; |
401 | lev->l.public_create = RRSOFT_public_create; |
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402 | lev->l.public_end = RRSOFT_public_end; |
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403 | lev->l.public_dispatch = RRSOFT_public_dispatch; |
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404 | lev->l.public_epilogue = RRSOFT_public_epilogue; |
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405 | lev->l.public_activate = RRSOFT_public_activate; |
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406 | lev->l.public_unblock = RRSOFT_public_unblock; |
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407 | lev->l.public_block = RRSOFT_public_block; |
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408 | lev->l.public_message = RRSOFT_public_message; |
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2 | pj | 409 | |
410 | /* fill the RRSOFT descriptor part */ |
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411 | for (i = 0; i < MAX_PROC; i++) { |
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412 | lev->nact[i] = -1; |
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413 | NULL_TIMESPEC(&lev->reactivation_time[i]); |
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414 | lev->reactivation_timer[i] = -1; |
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415 | lev->periodic[i] = 0; |
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416 | lev->period[i] = 0; |
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417 | } |
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418 | |||
29 | pj | 419 | iq_init(&lev->ready, &freedesc, 0); |
2 | pj | 420 | |
421 | if (slice < RRSOFT_MINIMUM_SLICE) slice = RRSOFT_MINIMUM_SLICE; |
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422 | if (slice > RRSOFT_MAXIMUM_SLICE) slice = RRSOFT_MAXIMUM_SLICE; |
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423 | lev->slice = slice; |
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424 | |||
425 | lev->multiboot = mb; |
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426 | |||
427 | lev->models = models; |
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428 | |||
429 | if (createmain) |
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430 | sys_atrunlevel(RRSOFT_call_main,(void *) l, RUNLEVEL_INIT); |
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38 | pj | 431 | |
432 | return l; |
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2 | pj | 433 | } |
434 | |||
435 | |||
436 | |||
437 |