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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Trimarchi Michael   <trimarchi@gandalf.sssup.it>

 *   (see the web pages for full authors list)

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/*

 * Copyright (C) 2000 Paolo Gai

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARR2ANTY; without even the implied waRR2anty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *

 */

#include <ll/stdio.h>

#include <ll/string.h>

#include <kernel/model.h>

#include <kernel/descr.h>

#include <kernel/var.h>

#include <kernel/func.h>

#include "posixstar.h"

#include "fsf_configuration_parameters.h"

#include "fsf_core.h"

#include "fsf_server.h"

#include <modules/comm_message.h>

//#define POSIXSTAR_DEBUG

/*+ Status used in the level +*/

#define POSIXSTAR_READY   MODULE_STATUS_BASE

#define POSIXSTAR_CHANGE_LEVEL 1

/* flags */

#define POSIXSTAR_FLAG_NOPREEMPT   4 

/*+ the level redefinition for the Round Robin level +*/

typedef struct {

  level_des l;          /*+ the standard level descriptor          +*/

  int nact[MAX_PROC];   /*+ number of pending activations          +*/

  int priority[MAX_PROC]; /*+ priority of each task                +*/

  IQUEUE *ready;        /*+ the ready queue array                  +*/

  int slice;            /*+ the level's time slice                 +*/

  int maxpriority;      /*+ the priority are from 0 to maxpriority

                            (i.e 0 to 31)                          +*/

  int yielding;         /*+ equal to 1 when a sched_yield is called +*/

  int budget[MAX_PROC];

  int flag[MAX_PROC];

  int new_level[MAX_PROC];

  int new_slice[MAX_PROC];

  int new_control[MAX_PROC];

  PID activated;

  int scheduling_level;

  int cap_lev;

  struct timespec cap_lasttime;

} POSIXSTAR_level_des;

static void capacity_handler(void *l)

{

  POSIXSTAR_level_des *lev = l;

  lev->cap_lev = NIL;

  event_need_reschedule();

}

/* the private scheduler choice a task and insert in cbsstar module */

/* This is not efficient but very fair :-)

   The need of all this stuff is because if a task execute a long time

   due to (shadow!) priority inheritance, then the task shall go to the

   tail of the queue many times... */

static void POSIXSTAR_private_scheduler(POSIXSTAR_level_des * lev)

{

  /* the old posix scheduler select the private job for CBS */

  PID p = NIL;

  int prio;

  prio = lev->maxpriority;

  for (;;) {

    p = iq_query_first(&lev->ready[prio]);

    if (p == NIL) {

      if (prio) {

        prio--;

        continue;

      }

      else {

        p=NIL;

        break;

      }

    }

    if (proc_table[p].avail_time <= 0) {

      while (proc_table[p].avail_time<=0)

        proc_table[p].avail_time += proc_table[p].wcet;

      iq_extract(p,&lev->ready[prio]);

      iq_insertlast(p,&lev->ready[prio]);

    }

    else {

      break;

    }

  }

  /* check if the task is preempteble or not */

  if (lev->activated != NIL && (lev->flag[lev->activated] & POSIXSTAR_FLAG_NOPREEMPT)) return;

  if (p!=lev->activated) {

    if (lev->activated != NIL )  {

     level_table[ lev->scheduling_level ]->

       private_extract(lev->scheduling_level, lev->activated);

   }

   lev->activated = p;

   if (p != NIL) {

     BUDGET_TASK_MODEL b;

     budget_task_default_model(b, lev->budget[p]);

     #ifdef POSIXSTAR_DEBUG

       kern_printf("(PS:SchAct:%d:%d)",p,lev->budget[p]);

     #endif

     level_table[ lev->scheduling_level ]->

       private_insert(lev->scheduling_level, p, (TASK_MODEL *)&b);

   }

 }

}

static int POSIXSTAR_public_eligible(LEVEL l, PID p)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  return level_table[ lev->scheduling_level ]->

      private_eligible(lev->scheduling_level,p);

  return 0;

}

static void POSIXSTAR_account_capacity(POSIXSTAR_level_des *lev, PID p)

{

  struct timespec ty;

  TIME tx;

  SUBTIMESPEC(&schedule_time, &lev->cap_lasttime, &ty);

  tx = TIMESPEC2USEC(&ty);

  proc_table[p].avail_time -= tx;

}

static int POSIXSTAR_public_create(LEVEL l, PID p, TASK_MODEL *m)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  NRT_TASK_MODEL *nrt;

  /* DEBUG */

  #ifdef POSIXSTAR_DEBUG

    kern_printf("(PS:Crt:%d)",p);

  #endif

  if (m->pclass != NRT_PCLASS) return -1;

  if (m->level != 0 && m->level != l) return -1;

  nrt = (NRT_TASK_MODEL *)m;

  /* the task state is set at SLEEP by the general task_create */

  /* I used the wcet field because using wcet can account if a task

     consume more than the timeslice... */

  if (nrt->inherit == NRT_INHERIT_SCHED &&

      proc_table[exec_shadow].task_level == l) {

    /* We inherit the scheduling properties if the scheduling level

       *is* the same */

    lev->priority[p] = lev->priority[exec_shadow];

    proc_table[p].avail_time = proc_table[exec_shadow].avail_time;

    proc_table[p].wcet       = proc_table[exec_shadow].wcet;

    lev->nact[p] = (lev->nact[exec_shadow] == -1) ? -1 : 0;

  }

  else {

    if (nrt->weight<=lev->maxpriority)

      lev->priority[p] = nrt->weight;

    else lev->priority[p]=lev->maxpriority;

    if (nrt->slice) {

      proc_table[p].avail_time = nrt->slice;

      proc_table[p].wcet       = nrt->slice;

    }

    else {

      proc_table[p].avail_time = lev->slice;

      proc_table[p].wcet       = lev->slice;

    }

    #if defined POSIXSTAR_DEBUG

        kern_printf("(slice %d)", proc_table[p].wcet);

    #endif 

    if (nrt->arrivals == SAVE_ARRIVALS)

      lev->nact[p] = 0;

    else

      lev->nact[p] = -1;

  }

  lev->flag[p] = 0;

  proc_table[p].control = (proc_table[p].control & ~CONTROL_CAP);

  return 0;

}

static void POSIXSTAR_public_dispatch(LEVEL l, PID p, int nostop)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  struct timespec ty;

  /* the task state is set EXE by the scheduler()

     we extract the task from the ready queue

     NB: we can't assume that p is the first task in the queue!!! */

  #ifdef POSIXSTAR_DEBUG

     if( !nostop) kern_printf("(PS:Dsp:%d)",p); else

         kern_printf("(PS:Dsp_shad:%d)",p);

  #endif

  if (!nostop || proc_table[exec].task_level==l) {

    TIMESPEC_ASSIGN(&ty, &schedule_time);

    TIMESPEC_ASSIGN(&lev->cap_lasttime, &schedule_time);

  /* ...and finally, we have to post a capacity event on exec task because the shadow_task consume

   *        capacity on exe task always */

    ADDUSEC2TIMESPEC(proc_table[exec].avail_time, &ty);

    lev->cap_lev = kern_event_post(&ty,capacity_handler, lev);

    level_table[lev->scheduling_level]->private_dispatch(lev->scheduling_level, p, nostop);

  }

  else

    level_table[proc_table[exec].task_level]->public_dispatch(proc_table[exec].task_level, p, nostop);

}

static int POSIXSTAR_private_change_level(LEVEL l, PID p)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  /* Change task level */

  if (lev->flag[p] & POSIXSTAR_CHANGE_LEVEL) {

    STD_command_message msg;

    proc_table[p].status = SLEEP;

    lev->flag[p] &= ~POSIXSTAR_CHANGE_LEVEL;

    level_table[lev->scheduling_level]->private_extract(lev->scheduling_level,p);

    iq_extract(p,&lev->ready[lev->priority[p]]);

    POSIXSTAR_private_scheduler(lev);

    lev->nact[p] = 0;

    lev->budget[p] = -1;

    proc_table[p].task_level = lev->new_level[p];

    msg.command = STD_ACTIVATE_TASK;

    level_table[lev->new_level[p]] -> public_message(lev->new_level[p],p,&msg);

    return 1;

  }

  return 0;

}

static void POSIXSTAR_public_epilogue(LEVEL l, PID p)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  #ifdef POSIXSTAR_DEBUG

    kern_printf("(PS:Epi:%d)",p);

  #endif 

 if (lev->cap_lev!=NIL) {

   kern_event_delete(lev->cap_lev);

   lev->cap_lev=NIL;

 }

 if (proc_table[exec].task_level==l ) {

   POSIXSTAR_account_capacity(lev,exec);

   if (POSIXSTAR_private_change_level(l,p)) return;

   if (lev->yielding) {

     lev->yielding = 0;

     iq_extract(p,&lev->ready[lev->priority[exec]]);

     iq_insertlast(p,&lev->ready[lev->priority[exec]]);

   } else {

     if (proc_table[exec].avail_time <= 0) {

       POSIXSTAR_private_scheduler(lev);

       if (exec==lev->activated) {

         level_table[lev->scheduling_level]->private_epilogue(lev->scheduling_level,p);  

       }

     } else  {

       level_table[lev->scheduling_level]->private_epilogue(lev->scheduling_level,p);

     }

   }

   proc_table[exec].status = POSIXSTAR_READY;

 } else {

   level_table[proc_table[exec].task_level]->public_epilogue(proc_table[exec].task_level,p);

 }

}

static void POSIXSTAR_internal_activate(POSIXSTAR_level_des *lev, PID p)

{

  /* Insert task in the correct position */

  proc_table[p].status = POSIXSTAR_READY;

  iq_insertlast(p,&lev->ready[lev->priority[p]]);

}

static void POSIXSTAR_public_activate(LEVEL l, PID p, struct timespec *t)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  /* Test if we are trying to activate a non sleeping task    */

  /* save activation (only if needed...) */

  if (proc_table[p].status != SLEEP) {

    if (lev->nact[p] != -1)

      lev->nact[p]++;

    return;

  }

  #ifdef POSIXSTAR_DEBUG 

    kern_printf("(PS:Act:%d)",p);

  #endif

  POSIXSTAR_internal_activate(lev, p);

  POSIXSTAR_private_scheduler(lev);

}

static void POSIXSTAR_public_unblock(LEVEL l, PID p)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  /* Similar to POSIX_task_activate, but we don't check in what state

     the task is */

  #ifdef POSIXSTAR_DEBUG

    kern_printf("(PS:UnBlk:%d)",p);

  #endif

  /* Insert task in the coPOSIXect position */

  proc_table[p].status = POSIXSTAR_READY;

  iq_insertlast(p,&lev->ready[lev->priority[p]]);

  POSIXSTAR_private_scheduler(lev);

}

static void POSIXSTAR_public_block(LEVEL l, PID p)

{  

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  /* Extract the running task from the level

     . we have already extract it from the ready queue at the dispatch time.

     . the capacity event have to be removed by the generic kernel

     . the wcet don't need modification...

     . the state of the task is set by the calling function

     So, we do nothing!!!

  */

  #ifdef POSIXSTAR_DEBUG

    kern_printf("(PS:Blk:%d)", p);     

  #endif

  iq_extract(p,&lev->ready[lev->priority[p]]);

  POSIXSTAR_private_scheduler(lev);

}

static int POSIXSTAR_public_message(LEVEL l, PID p, void *m)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  STD_command_message *msg;

  NRT_TASK_MODEL *nrt;

  #ifdef POSIXSTAR_DEBUG

    kern_printf("(PS:Msg:%d)",p);

  #endif

  switch ((long)(m)) {

    /* Task EndCycle */

    case (long)(NULL):

      if (POSIXSTAR_private_change_level(l,p)) return 0;

      if (lev->nact[p] > 0) {

        /* continue!!!! */

        lev->nact[p]--;

        iq_extract(p,&lev->ready[lev->priority[p]]);

        iq_insertfirst(p,&lev->ready[lev->priority[p]]);

        proc_table[p].status = POSIXSTAR_READY;

      }

      else {

        proc_table[p].status = SLEEP;

        iq_extract(p,&lev->ready[lev->priority[p]]);

      }

      jet_update_endcycle(); /* Update the Jet data... */

      POSIXSTAR_private_scheduler(lev);

      break;

    /* Task Disable */

    case (long)(1):

      break;

    default:

      msg = (STD_command_message *)m;

      switch(msg->command) {

        case STD_SET_NEW_LEVEL:

          lev->flag[p] |= POSIXSTAR_CHANGE_LEVEL;

          lev->new_level[p] = (int)(msg->param);

          break;

        case STD_SET_NEW_MODEL:

          nrt = (NRT_TASK_MODEL *)(msg->param);

          lev->priority[p] = nrt->weight;

          if (nrt->slice) {

            lev->new_slice[p] = nrt->slice;

          } else {

            lev->new_slice[p] = 0;

          }

          if (nrt->policy == NRT_RR_POLICY)

            lev->new_control[p] &= ~CONTROL_CAP;

          if (nrt->arrivals == SAVE_ARRIVALS)

            lev->nact[p] = 0;

          else

            lev->nact[p] = -1;

          lev->flag[p] = 0;

          break;

       case STD_ACTIVATE_TASK:

         if (lev->new_slice[p]) {

           proc_table[p].avail_time = lev->new_slice[p];

           proc_table[p].wcet = lev->new_slice[p];

         } else {

           proc_table[p].avail_time = lev->slice;

           proc_table[p].wcet = lev->slice;

         }

         proc_table[p].control |= lev->new_control[p];

         POSIXSTAR_public_activate(l,p,NULL);

         break;

      }

      break;

  }

  return 0;

}

static void POSIXSTAR_public_end(LEVEL l, PID p)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  #ifdef POSIXSTAR_DEBUG

    kern_printf("(PS:End:%d)", p);

  #endif

  lev->nact[p] = -1;

  /* extract task from the queue */

  iq_extract(p,&lev->ready[lev->priority[p]]);

  /* then, we insert the task in the free queue */

  proc_table[p].status = FREE;

  iq_priority_insert(p,NULL);

  POSIXSTAR_private_scheduler(lev);

}

/* Registration functions */

/*+ Registration function:

    TIME slice                the slice for the Round Robin queue +*/

LEVEL POSIXSTAR_register_level(int master, TIME slice,

                       int prioritylevels)

{

  LEVEL l;            /* the level that we register */

  POSIXSTAR_level_des *lev;  /* for readableness only */

  PID i;              /* a counter */

  int x;              /* a counter */

  #ifdef POSIXSTRA_DEBUG

    kern_printf("POSIXSTAR_register_level\n");

  #endif

  l = level_alloc_descriptor(sizeof(POSIXSTAR_level_des));

  lev = (POSIXSTAR_level_des *)level_table[l];

  lev->l.public_guarantee = NULL;

  lev->l.public_create    = POSIXSTAR_public_create;

  lev->l.public_end       = POSIXSTAR_public_end;

  lev->l.public_dispatch  = POSIXSTAR_public_dispatch;

  lev->l.public_epilogue  = POSIXSTAR_public_epilogue;

  lev->l.public_activate  = POSIXSTAR_public_activate;

  lev->l.public_unblock   = POSIXSTAR_public_unblock;

  lev->l.public_block     = POSIXSTAR_public_block;

  lev->l.public_message   = POSIXSTAR_public_message;

  lev->l.public_eligible  = POSIXSTAR_public_eligible;

  /* fill the POSIX descriptor part */

  for (i = 0; i < MAX_PROC; i++) {

    lev->nact[i] = -1;

    lev->budget[i] = -1;

    lev->flag[i] = 0;

    lev->new_level[i] = 0;

    lev->new_slice[i] = 0;

    lev->new_control[i] = 0;

  }

  lev->maxpriority = prioritylevels - 1;

  lev->ready = (IQUEUE *)kern_alloc(sizeof(IQUEUE) * prioritylevels);

  for (x = 0; x < prioritylevels; x++)

    iq_init(&lev->ready[x], NULL, 0);

  if (slice < POSIXSTAR_MINIMUM_SLICE) slice = POSIXSTAR_MINIMUM_SLICE;

  if (slice > POSIXSTAR_MAXIMUM_SLICE) slice = POSIXSTAR_MAXIMUM_SLICE;

  lev->slice = slice;

  lev->activated = NIL;

  lev->scheduling_level = master;

  lev->cap_lev = NIL;

  lev->yielding = 0;

  NULL_TIMESPEC(&lev->cap_lasttime);

  return l;

}

int POSIXSTAR_setbudget(LEVEL l, PID p, int budget)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  lev->budget[p] = budget;

  return 0;

}

int POSIXSTAR_getbudget(LEVEL l, PID p)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  return lev->budget[p];

}

int POSIXSTAR_budget_has_thread(LEVEL l, int budget)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  int i;

  for(i = 0; i< MAX_PROC; i++)

    if (lev->budget[i] == budget) return 1;

  return 0;

}

/*+ this function forces the running task to go to his queue tail;

    (it works only on the POSIX level) +*/

int POSIXSTAR_sched_yield(LEVEL l)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  if (proc_table[exec_shadow].task_level != l)

    return -1;

  proc_table[exec_shadow].context = kern_context_save();

  lev->yielding = 1;

  scheduler();

  kern_context_load(proc_table[exec_shadow].context);

  return 0;

}

/*+ this function returns the maximum level allowed for the POSIX level +*/

int POSIXSTAR_get_priority_max(LEVEL l)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  return lev->maxpriority;

}

/*+ this function returns the default timeslice for the POSIX level +*/

int POSIXSTAR_rr_get_interval(LEVEL l)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  return lev->slice;

}

/*+ this functions returns some paramaters of a task;

    policy must be NRT_RR_POLICY or NRT_FIFO_POLICY;

    priority must be in the range [0..prioritylevels]

    returns ENOSYS or ESRCH if there are problems +*/

int POSIXSTAR_getschedparam(LEVEL l, PID p, int *policy, int *priority)

{

  if (p<0 || p>= MAX_PROC || proc_table[p].status == FREE)

    return ESRCH;

  if (proc_table[p].task_level != l)

    return ENOSYS;

  *policy = NRT_RR_POLICY;

  *priority = ((POSIXSTAR_level_des *)(level_table[l]))->priority[p];

  return 0;

}

/*+ this functions sets paramaters of a task +*/

int POSIXSTAR_setschedparam(LEVEL l, PID p, int policy, int priority)

{

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  if (p<0 || p>= MAX_PROC || proc_table[p].status == FREE)

    return ESRCH;

  if (proc_table[p].task_level != l)

    return ENOSYS;

  if (lev->priority[p] != priority) {

    if (proc_table[p].status == POSIXSTAR_READY) {

      iq_extract(p,&lev->ready[lev->priority[p]]);

      lev->priority[p] = priority;

      iq_insertlast(p,&lev->ready[priority]);

    }

    else

      lev->priority[p] = priority;

  }

  return 0;

}

void POSIXSTAR_set_nopreemtive_current(LEVEL l) {

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  lev->flag[lev->activated]|=POSIXSTAR_FLAG_NOPREEMPT;

}

void POSIXSTAR_unset_nopreemtive_current(LEVEL l) {

  POSIXSTAR_level_des *lev = (POSIXSTAR_level_des *)(level_table[l]);

  lev->flag[lev->activated]&=~POSIXSTAR_FLAG_NOPREEMPT;

}