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2 pj 1
/*
2
 * Project: S.Ha.R.K.
3
 *
4
 * Coordinators:
5
 *   Giorgio Buttazzo    <giorgio@sssup.it>
6
 *   Paolo Gai           <pj@gandalf.sssup.it>
7
 *
8
 * Authors     :
9
 *   Paolo Gai           <pj@gandalf.sssup.it>
10
 *   Massimiliano Giorgi <massy@gandalf.sssup.it>
11
 *   Luca Abeni          <luca@gandalf.sssup.it>
12
 *   (see the web pages for full authors list)
13
 *
14
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
15
 *
16
 * http://www.sssup.it
17
 * http://retis.sssup.it
18
 * http://shark.sssup.it
19
 */
20
 
21
/**
22
 ------------
38 pj 23
 CVS :        $Id: rrsoft.c,v 1.4 2003-01-07 17:07:51 pj Exp $
2 pj 24
 
25
 File:        $File$
38 pj 26
 Revision:    $Revision: 1.4 $
27
 Last update: $Date: 2003-01-07 17:07:51 $
2 pj 28
 ------------
29
 
30
 This file contains the scheduling module RRSOFT (Round Robin)
31
 
32
 Read rrsoft.h for further details.
33
 
34
**/
35
 
36
/*
37
 * Copyright (C) 2000 Paolo Gai
38
 *
39
 * This program is free software; you can redistribute it and/or modify
40
 * it under the terms of the GNU General Public License as published by
41
 * the Free Software Foundation; either version 2 of the License, or
42
 * (at your option) any later version.
43
 *
44
 * This program is distributed in the hope that it will be useful,
45
 * but WITHOUT ANY WARRSOFTANTY; without even the implied waRRSOFTanty of
46
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
47
 * GNU General Public License for more details.
48
 *
49
 * You should have received a copy of the GNU General Public License
50
 * along with this program; if not, write to the Free Software
51
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
52
 *
53
 */
54
 
55
 
56
#include <modules/rrsoft.h>
57
#include <ll/stdio.h>
58
#include <ll/string.h>
59
#include <kernel/model.h>
60
#include <kernel/descr.h>
61
#include <kernel/var.h>
62
#include <kernel/func.h>
38 pj 63
#include <kernel/trace.h>
2 pj 64
 
65
/*+ Status used in the level +*/
66
#define RRSOFT_READY   MODULE_STATUS_BASE
67
#define RRSOFT_IDLE    MODULE_STATUS_BASE+2
68
 
69
/*+ the level redefinition for the Round Robin level +*/
70
typedef struct {
71
  level_des l;     /*+ the standard level descriptor          +*/
72
 
73
  int nact[MAX_PROC]; /*+ number of pending activations       +*/
74
 
29 pj 75
  IQUEUE ready;    /*+ the ready queue                        +*/
2 pj 76
 
77
  int slice;       /*+ the level's time slice                 +*/
78
 
79
  TIME period[MAX_PROC]; /*+  activation period               +*/
80
 
81
  struct timespec reactivation_time[MAX_PROC];
82
        /*+ the time at witch  the reactivation timer is post +*/
83
  int reactivation_timer[MAX_PROC];
84
                                   /*+ the recativation timer +*/
85
 
86
  BYTE periodic[MAX_PROC];
87
 
88
 
89
  struct multiboot_info *multiboot; /*+ used if the level have to insert
90
                                        the main task +*/
91
 
92
  BYTE models;      /*+ Task Model that the Module can Handle +*/
93
} RRSOFT_level_des;
94
 
95
 
96
/* this is the periodic reactivation of the task... it is posted only
97
   if the task is a periodic task */
98
static void RRSOFT_timer_reactivate(void *par)
99
{
100
  PID p = (PID) par;
101
  RRSOFT_level_des *lev;
102
//  kern_printf("react");
103
 
104
  lev = (RRSOFT_level_des *)level_table[proc_table[p].task_level];
105
 
106
  if (proc_table[p].status == RRSOFT_IDLE) {
107
    /* the task has finished the current activation and must be
108
       reactivated */
109
    proc_table[p].status = RRSOFT_READY;
29 pj 110
    iq_insertlast(p,&lev->ready);
2 pj 111
 
112
    event_need_reschedule();
113
  }
114
  else if (lev->nact[p] >= 0)
115
    /* the task has not completed the current activation, so we save
116
       the activation incrementing nact... */
117
    lev->nact[p]++;
118
 
119
  /* repost the event at the next period end... */
120
  ADDUSEC2TIMESPEC(lev->period[p], &lev->reactivation_time[p]);
121
  lev->reactivation_timer[p] = kern_event_post(&lev->reactivation_time[p],
122
                                               RRSOFT_timer_reactivate,
123
                                               (void *)p);
124
  /* tracer stuff */
125
//  trc_logevent(TRC_INTACTIVATION,&p);
126
}
127
 
128
/* This is not efficient but very fair :-)
129
   The need of all this stuff is because if a task execute a long time
130
   due to (shadow!) priority inheritance, then the task shall go to the
131
   tail of the queue many times... */
38 pj 132
static PID RRSOFT_public_scheduler(LEVEL l)
2 pj 133
{
134
  RRSOFT_level_des *lev = (RRSOFT_level_des *)(level_table[l]);
135
 
136
  PID p;
137
 
138
  for (;;) {
29 pj 139
    p = iq_query_first(&lev->ready);
2 pj 140
    if (p == -1)
141
      return p;
142
//{kern_printf("(s%d)",p);      return p;}
143
 
144
//    kern_printf("(p=%d l=%d avail=%d wcet =%d)\n",p,l,proc_table[p].avail_time, proc_table[p].wcet);
145
    if (proc_table[p].avail_time <= 0) {
146
      proc_table[p].avail_time += proc_table[p].wcet;
29 pj 147
      iq_extract(p,&lev->ready);
148
      iq_insertlast(p,&lev->ready);
2 pj 149
    }
150
    else
151
//{kern_printf("(s%d)",p);      return p;}
152
      return p;
153
 
154
  }
155
}
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]);
160
 
161
//  kern_printf("create %d mod %d\n",p,m->pclass);
162
  /* the task state is set at SLEEP by the general task_create
163
     the only thing to set remains the capacity stuffs that are set
164
     to the values passed in the model... */
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;
168
  if ( !(m->pclass==HARD_PCLASS && lev->models & RRSOFT_ONLY_HARD) ) return -1;
169
  if (m->level != 0 && m->level != l) return -1;
170
 
2 pj 171
  /* I used the wcet field because using wcet can account if a task
172
     consume more than the timeslice... */
173
 
174
  if (lev->models & RRSOFT_ONLY_NRT &&
175
      (m->pclass == NRT_PCLASS || m->pclass == (NRT_PCLASS | l))) {
176
    NRT_TASK_MODEL *nrt = (NRT_TASK_MODEL *)m;
177
 
178
//    kern_printf("nrt");
179
    if (nrt->slice) {
180
      proc_table[p].avail_time = nrt->slice;
181
      proc_table[p].wcet       = nrt->slice;
182
    }
183
    else {
184
      proc_table[p].avail_time = lev->slice;
185
      proc_table[p].wcet       = lev->slice;
186
    }
187
    proc_table[p].control   |= CONTROL_CAP;
188
 
189
    if (nrt->arrivals == SAVE_ARRIVALS)
190
      lev->nact[p] = 0;
191
    else
192
      lev->nact[p] = -1;
193
 
194
    lev->periodic[p] = 0;
195
    lev->period[p] = 0;
196
  }
197
  else if (lev->models & RRSOFT_ONLY_SOFT &&
198
           (m->pclass == SOFT_PCLASS || m->pclass == (SOFT_PCLASS | l))) {
199
    SOFT_TASK_MODEL *soft = (SOFT_TASK_MODEL *)m;
200
//    kern_printf("soft");
201
    proc_table[p].avail_time = lev->slice;
202
    proc_table[p].wcet       = lev->slice;
203
    proc_table[p].control   |= CONTROL_CAP;
204
 
205
    if (soft->arrivals == SAVE_ARRIVALS)
206
      lev->nact[p] = 0;
207
    else
208
      lev->nact[p] = -1;
209
 
210
    if (soft->periodicity == PERIODIC) {
211
      lev->periodic[p] = 1;
212
      lev->period[p] = soft->period;
213
    }
214
  }
215
  else if (lev->models & RRSOFT_ONLY_HARD &&
216
           (m->pclass == HARD_PCLASS || m->pclass == (HARD_PCLASS | l))) {
217
    HARD_TASK_MODEL *hard = (HARD_TASK_MODEL *)m;
218
//    kern_printf("hard");
219
    proc_table[p].avail_time = lev->slice;
220
    proc_table[p].wcet       = lev->slice;
221
    proc_table[p].control   |= CONTROL_CAP;
222
 
223
    lev->nact[p] = 0;
224
 
225
    if (hard->periodicity == PERIODIC) {
226
      lev->periodic[p] = 1;
227
      lev->period[p] = hard->mit;
228
    }
229
  }
230
 
231
  return 0; /* OK */
232
}
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]);
237
 
238
  /* the task state is set EXE by the scheduler()
239
     we extract the task from the ready queue
240
     NB: we can't assume that p is the first task in the queue!!! */
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]);
247
 
248
  /* check if the slice is finished and insert the task in the coRRSOFTect
249
     qqueue position */
250
  if (proc_table[p].avail_time <= 0) {
251
    proc_table[p].avail_time += proc_table[p].wcet;
29 pj 252
    iq_insertlast(p,&lev->ready);
2 pj 253
  }
254
  else
255
    /* curr is >0, so the running task have to run for another cuRRSOFT usec */
29 pj 256
    iq_insertfirst(p,&lev->ready);
2 pj 257
 
258
  proc_table[p].status = RRSOFT_READY;
259
}
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]);
264
 
265
  /* Test if we are trying to activate a non sleeping task    */
266
  /* save activation (only if needed... */
267
  if (proc_table[p].status != SLEEP && proc_table[p].status != RRSOFT_IDLE) {
268
    if (lev->nact[p] != -1)
269
      lev->nact[p]++;
270
    return;
271
  }
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 */
278
  if (lev->periodic[p])
279
  {
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],
283
                                                 RRSOFT_timer_reactivate,
284
                                                 (void *)p);
285
  }
286
}
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]);
291
 
292
  /* Similar to RRSOFT_task_activate, but we don't check in what state
38 pj 293
     the task is */
2 pj 294
 
295
  /* Insert task in the coRRSOFTect position */
296
  proc_table[p].status = RRSOFT_READY;
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
303
     . we have already extract it from the ready queue at the dispatch time.
304
     . the capacity event have to be removed by the generic kernel
305
     . the wcet don't need modification...
306
     . the state of the task is set by the calling function
307
 
308
     So, we do nothing!!!
309
  */
310
}
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]);
315
 
316
  if (lev->nact[p] > 0) {
317
    /* continue!!!! */
318
    lev->nact[p]--;
319
//    qq_insertlast(p,&lev->ready);
29 pj 320
    iq_insertfirst(p,&lev->ready);
2 pj 321
    proc_table[p].status = RRSOFT_READY;
322
  }
323
  else
324
    proc_table[p].status = RRSOFT_IDLE;
38 pj 325
 
326
  jet_update_endcycle(); /* Update the Jet data... */
327
  trc_logevent(TRC_ENDCYCLE,&exec_shadow); /* tracer stuff */
328
 
329
  return 0;
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]);
335
 
336
  lev->nact[p] = -1;
337
 
338
  /* we delete the reactivation timer */
339
  if (lev->periodic[p]) {
38 pj 340
    kern_event_delete(lev->reactivation_timer[p]);
2 pj 341
    lev->reactivation_timer[p] = -1;
342
  }
343
 
344
  /* then, we insert the task in the free queue */
345
  proc_table[p].status = FREE;
29 pj 346
  iq_insertlast(p,&freedesc);
2 pj 347
}
348
 
349
/* Registration functions */
350
 
351
/*+ This init function install the "main" task +*/
352
static void RRSOFT_call_main(void *l)
353
{
354
  LEVEL lev;
355
  PID p;
356
  NRT_TASK_MODEL m;
357
  void *mb;
358
 
359
  lev = (LEVEL)l;
360
 
361
  nrt_task_default_model(m);
362
  nrt_task_def_level(m,lev); /* with this we are sure that the task aRRSOFTives
363
                                to the coRRSOFTect level */
364
 
365
  mb = ((RRSOFT_level_des *)level_table[lev])->multiboot;
366
  nrt_task_def_arg(m,mb);
367
  nrt_task_def_usemath(m);
368
  nrt_task_def_nokill(m);
369
  nrt_task_def_ctrl_jet(m);
370
 
371
  p = task_create("Main", __init__, (TASK_MODEL *)&m, NULL);
372
 
373
  if (p == NIL)
374
    printk("\nPanic!!! can't create main task...\n");
375
 
38 pj 376
  RRSOFT_public_activate(lev,p);
2 pj 377
}
378
 
379
 
380
/*+ Registration function:
381
    TIME slice                the slice for the Round Robin queue
382
    int createmain            1 if the level creates the main task 0 otherwise
383
    struct multiboot_info *mb used if createmain specified   +*/
38 pj 384
LEVEL RRSOFT_register_level(TIME slice,
2 pj 385
                       int createmain,
386
                       struct multiboot_info *mb,
387
                       BYTE models)
388
{
389
  LEVEL l;            /* the level that we register */
390
  RRSOFT_level_des *lev;  /* for readableness only */
391
  PID i;
392
 
393
  printk("RRSOFT_register_level\n");
394
 
395
  /* request an entry in the level_table */
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);
401
 
402
  /* fill the standard descriptor */
38 pj 403
  lev->l.public_scheduler = RRSOFT_public_scheduler;
404
  lev->l.public_create    = RRSOFT_public_create;
405
  lev->l.public_end       = RRSOFT_public_end;
406
  lev->l.public_dispatch  = RRSOFT_public_dispatch;
407
  lev->l.public_epilogue  = RRSOFT_public_epilogue;
408
  lev->l.public_activate  = RRSOFT_public_activate;
409
  lev->l.public_unblock   = RRSOFT_public_unblock;
410
  lev->l.public_block     = RRSOFT_public_block;
411
  lev->l.public_message   = RRSOFT_public_message;
2 pj 412
 
413
  /* fill the RRSOFT descriptor part */
414
  for (i = 0; i < MAX_PROC; i++) {
415
    lev->nact[i] = -1;
416
    NULL_TIMESPEC(&lev->reactivation_time[i]);
417
    lev->reactivation_timer[i] = -1;
418
    lev->periodic[i] = 0;
419
    lev->period[i] = 0;
420
  }
421
 
29 pj 422
  iq_init(&lev->ready, &freedesc, 0);
2 pj 423
 
424
  if (slice < RRSOFT_MINIMUM_SLICE) slice = RRSOFT_MINIMUM_SLICE;
425
  if (slice > RRSOFT_MAXIMUM_SLICE) slice = RRSOFT_MAXIMUM_SLICE;
426
  lev->slice      = slice;
427
 
428
  lev->multiboot  = mb;
429
 
430
  lev->models     = models;
431
 
432
  if (createmain)
433
    sys_atrunlevel(RRSOFT_call_main,(void *) l, RUNLEVEL_INIT);
38 pj 434
 
435
  return l;
2 pj 436
}
437
 
438
 
439
 
440