WebSVN - shark - Blame - Rev 941 - /shark/trunk/ports/first/first-server.c

Rev	Author	Line No.	Line
221	giacomo	1	//=====================================================================
		2	// FFFFFFIII RRRRR SSTTTTTTT
		3	// FF IIR RR SS
		4	// FF IR SS
		5	// FFFFFF RRRR SSSSST
		6	// FF FI RRR SS
		7	// FF II RRR SS
		8	// FF IIIIIR RS
		9	//
		10	// Basic FSF(FIRST Scheduling Framework) contract management
		11	// S.Ha.R.K. Implementation
		12	//=====================================================================
		13
405	trimarchi	14	#include "ll/i386/64bit.h"
679	trimarchi	15	#include <kernel/kern.h>
		16	#include <modules/sem.h>
		17	#include <modules/hartport.h>
		18	#include <modules/cabs.h>
405	trimarchi	19
881	trimarchi	20	#include "fsf.h"
679	trimarchi	21	#include "fsf_service_task.h"
896	trimarchi	22	#include "fsf_server.h"
679	trimarchi	23	#include "message.h"
221	giacomo	24
868	trimarchi	25	#include "posixstar.h"
		26	#include "edfstar.h"
		27	#include "nonestar.h"
		28	#include "rmstar.h"
		29
221	giacomo	30	#include <pthread.h>
		31	#include <stdlib.h>
808	trimarchi	32	#include "pistar.h"
868	trimarchi	33	#include <modules/comm_message.h>
221	giacomo	34
417	giacomo	35	//#define FSF_DEBUG
221	giacomo	36
410	trimarchi	37	int current_server=0;
407	giacomo	38	server_elem server_list[FSF_MAX_N_SERVERS];
406	giacomo	39	bandwidth_t fsf_max_bw = 0;
405	trimarchi	40
241	giacomo	41	int fsf_server_level;
868	trimarchi	42	int fsf_posix_level = -1;
808	trimarchi	43	int shared_object_level;
679	trimarchi	44	PID server_task;
868	trimarchi	45	fsf_contract_parameters_t contract;
221	giacomo	46
868	trimarchi	47
679	trimarchi	48	PORT channel[2];
		49
868	trimarchi	50	fsf_server_id_t service_server = -1;
		51	fsf_contract_parameters_t service_contract;
		52
896	trimarchi	53	bandwidth_t SERVER_return_bandwidth();
		54
808	trimarchi	55	int FSF_register_shared_object_module(void) {
811	trimarchi	56	fsf_register_shared_object();
808	trimarchi	57	return PISTAR_register_module();
		58	}
		59
		60
810	trimarchi	61	int FSF_get_shared_object_level() {
		62	return shared_object_level;
		63	}
		64
868	trimarchi	65	int FSF_register_module(int posix_level, int server_level, bandwidth_t max_bw)
224	giacomo	66	{
		67	printk("FSF Module\n");
410	trimarchi	68	current_server=0;
241	giacomo	69	fsf_server_level = server_level;
868	trimarchi	70	fsf_posix_level = posix_level;
406	giacomo	71	fsf_max_bw = max_bw;
811	trimarchi	72	shared_object_level = FSF_register_shared_object_module();
679	trimarchi	73
224	giacomo	74	return 0;
		75
		76	}
		77
868	trimarchi	78	void FSF_start_service_task(void) {
679	trimarchi	79
868	trimarchi	80	int err;
881	trimarchi	81	struct timespec default_period = FSF_SERVICE_THREAD_PERIOD;
		82	struct timespec default_budget = FSF_SERVICE_THREAD_BUDGET;
868	trimarchi	83	DUMMY_TASK_MODEL m;
881	trimarchi	84	fsf_sched_params_t pr;
937	trimarchi	85	int budget_overrun_sig_notify = FSF_NULL_SIGNAL;
		86	union sigval budget_overrun_sig_value = {0};
		87	int deadline_miss_sig_notify = FSF_NULL_SIGNAL;
		88	union sigval deadline_miss_sig_value = {0};
868	trimarchi	89
881	trimarchi	90	pr.policy=FSF_NONE;
		91	pr.params=&m;
		92
868	trimarchi	93	dummy_task_default_model(m);
941	trimarchi	94
679	trimarchi	95	// create the service task
		96	// create the communication channel for negotiation and renegotiation
		97
		98	channel[1] = port_create("CHANW",sizeof(struct mess),1,STREAM,WRITE);
		99
		100	channel[0] = port_create("CHANR",sizeof(struct mess),1,STREAM,READ);
		101
868	trimarchi	102	fsf_initialize_contract(&service_contract);
941	trimarchi	103
		104	err=fsf_set_contract_basic_parameters(&service_contract,&default_budget,&default_period,FSF_DEFAULT_WORKLOAD);
		105	if (err) exit(err);
868	trimarchi	106
941	trimarchi	107	err=fsf_set_contract_timing_requirements (&service_contract,
937	trimarchi	108	true,NULL,
		109	budget_overrun_sig_notify,
		110	budget_overrun_sig_value,
		111	deadline_miss_sig_notify,
		112	deadline_miss_sig_value);
941	trimarchi	113	if (err) exit(err);
937	trimarchi	114
868	trimarchi	115	negotiate_contract(&service_contract,&service_server);
		116
		117	//server_task = task_create("stask",service_task,model,NULL);
881	trimarchi	118	err = fsf_create_local_thread(service_server,&pr, &server_task,NULL,(fsf_thread_code_t)service_task,NULL);
868	trimarchi	119	if (err) {
679	trimarchi	120	cprintf("error creating service task\n");
		121	sys_shutdown_message("Could not create service_task");
927	pj	122	exit(1);
679	trimarchi	123	}
		124
		125	task_activate(server_task);
		126
		127	}
		128
		129
221	giacomo	130	/* Convert the contract specification to
		131	* budget parameters
		132	*/
241	giacomo	133	int set_SERVER_budget_from_contract
221	giacomo	134	(const fsf_contract_parameters_t *contract,
		135	int *budget)
		136	{
		137
		138	int local_scheduler_level = 0;
		139
868	trimarchi	140	switch (contract->policy) {
		141	case FSF_POSIX:
241	giacomo	142	local_scheduler_level = POSIXSTAR_register_level(fsf_server_level,5000,32);
221	giacomo	143	break;
868	trimarchi	144	case FSF_EDF:
241	giacomo	145	local_scheduler_level = EDFSTAR_register_level(fsf_server_level);
221	giacomo	146	break;
868	trimarchi	147	case FSF_RM:
241	giacomo	148	local_scheduler_level = RMSTAR_register_level(fsf_server_level);
221	giacomo	149	break;
868	trimarchi	150	case FSF_NONE:
855	trimarchi	151	local_scheduler_level = NONESTAR_register_level(fsf_server_level);
334	giacomo	152	break;
221	giacomo	153	}
405	trimarchi	154
908	trimarchi	155	if (contract->d_equals_t == true) {
241	giacomo	156	*budget = SERVER_setbudget(fsf_server_level,
221	giacomo	157	TIMESPEC2USEC(&(contract->budget_min)),
		158	TIMESPEC2USEC(&(contract->period_max)),
661	giacomo	159	TIMESPEC2USEC(&(contract->period_max)),
868	trimarchi	160	local_scheduler_level,contract->policy);
661	giacomo	161	} else {
		162	*budget = SERVER_setbudget(fsf_server_level,
		163	TIMESPEC2USEC(&(contract->budget_min)),
		164	TIMESPEC2USEC(&(contract->period_max)),
		165	TIMESPEC2USEC(&(contract->deadline)),
868	trimarchi	166	local_scheduler_level,contract->policy);
661	giacomo	167	}
221	giacomo	168
		169	return 0;
		170
		171	}
		172
405	trimarchi	173	int adjust_SERVER_budget
		174	(int budget, const TIME budget_actual,
661	giacomo	175	const TIME period_actual, const TIME dline_actual)
221	giacomo	176	{
		177
241	giacomo	178	SERVER_adjust_budget(fsf_server_level,
405	trimarchi	179	budget_actual,
		180	period_actual,
661	giacomo	181	dline_actual,
241	giacomo	182	budget);
221	giacomo	183
		184	return 0;
		185
		186	}
		187
		188	/* Admission Test function */
		189	int add_contract(const fsf_contract_parameters_t *contract)
		190	{
896	trimarchi	191	bandwidth_t current_bandwidth,U;
		192
		193	TIME T,Q;
897	trimarchi	194
		195	#ifdef FSF_DEBUG
		196	kern_printf("(GA TEST)");
		197	#endif
896	trimarchi	198	T=TIMESPEC2USEC(&(contract->period_max));
		199	Q=TIMESPEC2USEC(&(contract->budget_min));
		200
		201	mul32div32to32(MAX_BANDWIDTH,Q,T,U);
		202	/* The current bandwidth is the min bandwidth */
		203	current_bandwidth=SERVER_return_bandwidth(fsf_server_level);
		204
897	trimarchi	205	if (fsf_max_bw<current_bandwidth+U) return -1;
896	trimarchi	206
221	giacomo	207	return 0;
		208
		209	}
		210
687	trimarchi	211	void contract_to_server(const fsf_contract_parameters_t *contract, int i) {
		212
410	trimarchi	213	TIME T,Q;
		214	#ifdef FSF_DEBUG
		215	int temp;
		216	#endif
		217
		218	T=TIMESPEC2USEC(&contract->period_min);
		219	Q=TIMESPEC2USEC(&contract->budget_max);
908	trimarchi	220	server_list[i].Cmax=Q;
		221
410	trimarchi	222	mul32div32to32(MAX_BANDWIDTH,Q,T,server_list[current_server].Umax);
		223
417	giacomo	224	T=TIMESPEC2USEC(&contract->period_min);
		225	server_list[i].Tmin=T;
		226
410	trimarchi	227	T=TIMESPEC2USEC(&contract->period_max);
		228	server_list[i].Tmax=T;
417	giacomo	229
410	trimarchi	230	Q=TIMESPEC2USEC(&contract->budget_min);
		231	server_list[i].Cmin=Q;
		232
		233	mul32div32to32(MAX_BANDWIDTH,Q,T,server_list[i].Umin);
416	trimarchi	234	server_list[i].U=server_list[i].Umin;
661	giacomo	235
908	trimarchi	236	if (contract->d_equals_t == true) {
661	giacomo	237	server_list[i].deadline = 0;
908	trimarchi	238	server_list[i].d_equals_t = true;
661	giacomo	239	} else {
		240	server_list[i].deadline = TIMESPEC2USEC(&contract->deadline);;
908	trimarchi	241	server_list[i].d_equals_t = false;
661	giacomo	242	}
		243
843	trimarchi	244	server_list[i].Qs = contract->quality;
		245	server_list[i].Is = contract->importance;
		246
410	trimarchi	247	#ifdef FSF_DEBUG
		248	mul32div32to32(server_list[i].Umax,100, MAX_BANDWIDTH, temp);
		249	kern_printf("(Umax %d)",temp);
		250	mul32div32to32(server_list[i].Umin,100, MAX_BANDWIDTH, temp);
		251	kern_printf("(Umin %d)",temp);
		252	#endif
		253
687	trimarchi	254	}
		255
		256	int relink_contract_to_server(const fsf_contract_parameters_t *contract,
		257	fsf_server_id_t server)
		258	{
		259	int i=0;
		260	#ifdef FSF_DEBUG
		261	kern_printf("(Relink Server %d)",server);
		262	#endif
		263	// find contract
		264	while(i<current_server) {
		265	if (server_list[i].server==server) break;
		266	i++;
		267	}
		268
		269	server_list[i].server=server;
843	trimarchi	270	// server_list[i].Qs=1;
687	trimarchi	271
		272	contract_to_server(contract, i);
		273
		274
410	trimarchi	275	return 0;
		276
		277	}
		278
221	giacomo	279	int link_contract_to_server(const fsf_contract_parameters_t *contract,
		280	fsf_server_id_t server)
		281	{
407	giacomo	282	#ifdef FSF_DEBUG
405	trimarchi	283	kern_printf("(Link Server %d)",server);
		284	#endif
		285
410	trimarchi	286	server_list[current_server].server=server;
843	trimarchi	287	//server_list[current_server].Qs=1;
405	trimarchi	288
687	trimarchi	289	contract_to_server(contract,current_server);
405	trimarchi	290
410	trimarchi	291	current_server++;
221	giacomo	292	return 0;
		293
		294	}
		295
		296	int remove_contract(fsf_server_id_t server)
		297	{
405	trimarchi	298	int i=0;
		299	// find the contract
410	trimarchi	300	while(i<current_server) {
405	trimarchi	301	if (server_list[i].server==server) break;
		302	i++;
		303	}
221	giacomo	304
405	trimarchi	305	// compress the array;
410	trimarchi	306	while (i<(current_server-1)) {
405	trimarchi	307	server_list[i].server=server_list[i+1].server;
		308	server_list[i].Umin=server_list[i+1].Umin;
416	trimarchi	309	server_list[i].U=server_list[i+1].Umin;
405	trimarchi	310	server_list[i].Umax=server_list[i+1].Umax;
		311	server_list[i].Cmin=server_list[i+1].Cmin;
908	trimarchi	312	server_list[i].Cmax=server_list[i+1].Cmax;
417	giacomo	313	server_list[i].Tmin=server_list[i+1].Tmin;
405	trimarchi	314	server_list[i].Tmax=server_list[i+1].Tmax;
		315	server_list[i].Qs=server_list[i+1].Qs;
661	giacomo	316	server_list[i].deadline = server_list[i+1].deadline;
		317	server_list[i].d_equals_t = server_list[i+1].d_equals_t;
843	trimarchi	318	server_list[i].Is = server_list[i+1].Is;
417	giacomo	319
405	trimarchi	320	i++;
		321	}
410	trimarchi	322	current_server--;
405	trimarchi	323
		324
221	giacomo	325	return 0;
		326
		327	}
		328
868	trimarchi	329	int
		330	fsf_get_renegotiation_status
		331	(fsf_server_id_t server,
		332	fsf_renegotiation_status_t *renegotiation_status)
		333	{
221	giacomo	334
868	trimarchi	335	if (SERVER_get_renegotiation_status(fsf_server_level,server))
		336	*renegotiation_status=FSF_IN_PROGRESS;
		337	else
		338	*renegotiation_status=FSF_ADMITTED;
		339
		340	return 0;
		341
		342
		343	}
		344
896	trimarchi	345	int
		346	fsf_request_change_quality_and_importance
		347	(fsf_server_id_t server,
		348	int new_importance,
		349	int new_quality)
		350	{
		351	struct mess m;
868	trimarchi	352
896	trimarchi	353	// send response server is -1 if the operation fail
		354	m.type=CHANGE_PARAMETER;
908	trimarchi	355	m.server=server;
		356	m.qi.quality = new_quality;
		357	m.qi.importance = new_importance;
896	trimarchi	358	//memmove(&m.contract,contract, sizeof(fsf_contract_parameters_t));
		359
		360	port_send(channel[1],&m,BLOCK);
		361
		362	port_receive(channel[0], &m, BLOCK);
		363
		364	if (m.server==-1)
		365	return FSF_ERR_CONTRACT_REJECTED;
		366
		367	//*server=m.server;
		368
908	trimarchi	369	return 0;
896	trimarchi	370	}
		371
		372
221	giacomo	373	int fsf_negotiate_contract
		374	(const fsf_contract_parameters_t *contract,
		375	fsf_server_id_t *server)
		376	{
880	trimarchi	377	struct mess m;
221	giacomo	378
679	trimarchi	379	// send response server is -1 if the operation fail
880	trimarchi	380	m.type=NEGOTIATE_CONTRACT;
		381	memmove(&m.contract,contract, sizeof(fsf_contract_parameters_t));
		382	//kern_printf("(SN:%d)",*server);
		383	port_send(channel[1],&m,BLOCK);
		384	//kern_printf("BR:%d)", *server);
		385	port_receive(channel[0], &m, BLOCK);
		386	//kern_printf("(EN:%d)", *server);
		387	if (m.server==-1)
679	trimarchi	388	return FSF_ERR_CONTRACT_REJECTED;
221	giacomo	389
880	trimarchi	390	*server=m.server;
679	trimarchi	391
221	giacomo	392	return 0;
		393
		394	}
		395
872	trimarchi	396	int
		397	fsf_negotiate_contract_for_new_thread
		398	(const fsf_contract_parameters_t *contract,
		399	fsf_server_id_t *server,
		400	pthread_t *thread,
		401	pthread_attr_t *attr,
		402	fsf_thread_code_t thread_code,
		403	void *arg) {
		404
		405	int err=0;
		406
		407	err = fsf_negotiate_contract(contract,server);
		408	if (!err) {
		409	err = pthread_create(thread, attr, thread_code, arg);
		410	if (!err)
		411	err = fsf_bind_thread_to_server(server,thread);
		412	} else return err;
		413
		414	return err;
		415	}
		416
		417	int
		418	fsf_negotiate_contract_for_myself
		419	(const fsf_contract_parameters_t *contract,
		420	fsf_server_id_t *server) {
		421
		422	int err=0;
		423
		424	err = fsf_negotiate_contract(contract,server);
		425	if (!err) {
937	trimarchi	426	#ifdef FSF_DEBUG
		427	kern_printf("Bind task");
		428	#endif
872	trimarchi	429	err = fsf_bind_thread_to_server(*server,exec_shadow);
937	trimarchi	430
872	trimarchi	431	} else return err;
		432
		433	return err;
		434	}
		435
868	trimarchi	436	int fsf_unbind_thread_from_server
		437	(pthread_t thread)
		438	{
		439
		440	int local_scheduler_level, scheduler_id;
		441
		442	/* Move thread from the local scheduler module to posix level */
		443
		444	#ifdef FSF_DEBUG
		445	kern_printf("(UnBind thread = %d)",thread);
		446	#endif
		447
		448	/* Check if thread exsists */
		449	if (thread == -1)
		450	return FSF_ERR_BAD_ARGUMENT;
		451
		452	local_scheduler_level = SERVER_get_local_scheduler_level_from_pid(fsf_server_level,thread);
		453	scheduler_id = SERVER_get_local_scheduler_id_from_pid(fsf_server_level,thread);
		454
		455	/* Check if thread is already bind */
		456	if (scheduler_id == FSF_NONE) {
		457	/* Check if it is bind to a server */
		458	if (NONESTAR_getbudget(local_scheduler_level,thread) == -1)
		459	return FSF_ERR_BAD_ARGUMENT;
		460	else {
		461
		462	STD_command_message *msg;
		463	NRT_TASK_MODEL nrt;
		464
		465	nrt_task_default_model(nrt);
		466	nrt_task_def_save_arrivals(nrt);
		467
		468	/* Send change level command to local scheduler */
		469	msg = (STD_command_message *)malloc(sizeof(STD_command_message));
		470
		471	msg->command = STD_SET_NEW_MODEL;
		472	msg->param = (void *)(&nrt);
		473	level_table[fsf_posix_level]->public_message(fsf_posix_level,thread,msg);
		474
		475	msg->command = STD_SET_NEW_LEVEL;
		476	msg->param = (void *)(fsf_posix_level);
		477	task_message(msg,thread,0);
		478
		479	free(msg);
		480	}
		481	}
		482
		483	return 0;
		484
		485	}
		486
873	trimarchi	487	int
		488	fsf_bind_local_thread_to_server
		489	(fsf_server_id_t server,
		490	pthread_t thread,
		491	fsf_sched_params_t *sched_params)
		492	{
868	trimarchi	493
873	trimarchi	494	STD_command_message *msg;
		495	int local_scheduler_level,scheduler_id;
		496
		497	/* Move thread from the posix module to local scheduler */
		498
		499	#ifdef FSF_DEBUG
		500	kern_printf("(Bind thread = %d to Server = %d)",thread,server);
		501	#endif
		502
		503	/* Check if server and thread exsist */
		504	if (server == -1 \|\| thread == -1)
		505	return FSF_ERR_BAD_ARGUMENT;
		506
		507	local_scheduler_level = SERVER_get_local_scheduler_level_from_budget(fsf_server_level,server);
		508	if (local_scheduler_level==-1)
		509	return FSF_ERR_UNKNOWN_APPSCHEDULED_THREAD;
		510
		511	scheduler_id = SERVER_get_local_scheduler_id_from_budget(fsf_server_level,server);
881	trimarchi	512
		513	if (scheduler_id!=sched_params->policy)
		514	return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
873	trimarchi	515
		516	/* Check if thread is already bind */
		517	switch(scheduler_id) {
		518
		519	case FSF_RM:
		520	{
881	trimarchi	521	TASK_MODEL m=(TASK_MODEL)(sched_params->params);
		522	HARD_TASK_MODEL h=(HARD_TASK_MODEL )(sched_params->params);
873	trimarchi	523
		524	if (m->pclass != HARD_PCLASS)
		525	return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
		526
		527	h = (HARD_TASK_MODEL *)m;
		528
		529	if (!h->wcet \|\| !h->mit) return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
		530
		531	/* now we know that m is a valid model */
		532	if (RMSTAR_getbudget(local_scheduler_level,thread) != -1)
		533	return FSF_ERR_BAD_ARGUMENT;
		534
		535	/* Set server on local scheduler */
		536	RMSTAR_setbudget(local_scheduler_level,thread,(int)(server));
		537
		538	/* Send change level command to posix level */
		539	}
877	trimarchi	540	break;
		541
873	trimarchi	542	case FSF_EDF:
		543	{
881	trimarchi	544	TASK_MODEL m=(TASK_MODEL)(sched_params->params);
		545	HARD_TASK_MODEL h=(HARD_TASK_MODEL )(sched_params->params);
873	trimarchi	546
		547	if (m->pclass != HARD_PCLASS)
		548	return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
		549
		550	h = (HARD_TASK_MODEL *)m;
		551
		552	if (!h->wcet \|\| !h->mit) return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
		553
		554	if (EDFSTAR_getbudget(local_scheduler_level,thread) != -1)
		555	return FSF_ERR_BAD_ARGUMENT;
		556
		557	/* Set server on local scheduler */
		558	EDFSTAR_setbudget(local_scheduler_level,thread,(int)(server));
		559
		560	}
		561	break;
		562
		563	case FSF_POSIX:
		564	{
881	trimarchi	565	TASK_MODEL m=(TASK_MODEL)(sched_params->params);
873	trimarchi	566
		567	if (m->pclass != NRT_PCLASS)
		568	return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
		569
		570	if (POSIXSTAR_getbudget(local_scheduler_level,thread) != -1)
		571	return FSF_ERR_BAD_ARGUMENT;
		572
		573	/* Set server on local scheduler */
		574	POSIXSTAR_setbudget(local_scheduler_level,thread,(int)(server));
		575	}
877	trimarchi	576	break;
873	trimarchi	577
877	trimarchi	578	default:
		579
873	trimarchi	580	return FSF_ERR_BAD_ARGUMENT;
877	trimarchi	581
873	trimarchi	582	}
		583
		584	msg = (STD_command_message *)malloc(sizeof(STD_command_message));
877	trimarchi	585	if (msg) {
		586	SYS_FLAGS f;
		587	f=kern_fsave();
873	trimarchi	588	msg->command = STD_SET_NEW_MODEL;
881	trimarchi	589	msg->param = (void *)(sched_params->params);
873	trimarchi	590	level_table[local_scheduler_level]->public_message(local_scheduler_level,thread,msg);
		591
		592	msg->command = STD_SET_NEW_LEVEL;
		593	msg->param = (void *)(local_scheduler_level);
		594	task_message(msg,thread,0);
940	trimarchi	595	scheduler();
		596	kern_context_load(proc_table[exec_shadow].context);
877	trimarchi	597	kern_frestore(f);
873	trimarchi	598	free(msg);
		599	} else return FSF_ERR_INTERNAL_ERROR;
		600
		601	return 0;
		602
		603	}
		604
		605
868	trimarchi	606	int fsf_bind_thread_to_server
		607	(fsf_server_id_t server,
		608	pthread_t thread)
		609	{
		610
		611	STD_command_message *msg;
		612	int local_scheduler_level,scheduler_id;
937	trimarchi	613	SYS_FLAGS f;
868	trimarchi	614	/* Move thread from the posix module to local scheduler */
		615
		616	#ifdef FSF_DEBUG
880	trimarchi	617	kern_printf("(Bthr=%d to Sr=%d)",thread,server);
868	trimarchi	618	#endif
		619
		620	/* Check if server and thread exsist */
		621	if (server == -1 \|\| thread == -1)
		622	return FSF_ERR_BAD_ARGUMENT;
		623
		624	local_scheduler_level = SERVER_get_local_scheduler_level_from_budget(fsf_server_level,server);
873	trimarchi	625	if (local_scheduler_level==-1)
		626	return FSF_ERR_UNKNOWN_APPSCHEDULED_THREAD;
		627
868	trimarchi	628	scheduler_id = SERVER_get_local_scheduler_id_from_budget(fsf_server_level,server);
		629
		630	/* Check if thread is already bind */
		631	if (scheduler_id == FSF_NONE) {
		632	DUMMY_TASK_MODEL rt_arg;
		633
		634	if (NONESTAR_getbudget(local_scheduler_level,thread) != -1)
		635	return FSF_ERR_BAD_ARGUMENT;
		636
		637	/* Set server on local scheduler */
		638	NONESTAR_setbudget(local_scheduler_level,thread,(int)(server));
937	trimarchi	639	f=kern_fsave();
868	trimarchi	640	/* Send change level command to posix level */
		641	msg = (STD_command_message *)malloc(sizeof(STD_command_message));
		642
		643	msg->command = STD_SET_NEW_MODEL;
		644	msg->param = (void *)(&rt_arg);
937	trimarchi	645	level_table[local_scheduler_level]->public_message(local_scheduler_level,thread,msg);
868	trimarchi	646	msg->command = STD_SET_NEW_LEVEL;
		647	msg->param = (void *)(local_scheduler_level);
		648	task_message(msg,thread,0);
937	trimarchi	649
		650	scheduler();
		651	kern_context_load(proc_table[exec_shadow].context);
		652	kern_frestore(f);
		653
		654
868	trimarchi	655	free(msg);
937	trimarchi	656
868	trimarchi	657	} else return FSF_ERR_BAD_ARGUMENT;
		658
		659	return 0;
		660	}
		661
881	trimarchi	662	int fsf_create_local_thread
		663	(fsf_server_id_t server,
		664	fsf_sched_params_t *local_scheduler_arg,
		665	pthread_t *thread,
		666	pthread_attr_t *attr,
		667	fsf_thread_code_t thread_code,
		668	void *arg)
221	giacomo	669	{
		670
		671	int local_scheduler_level,scheduler_id;
		672
		673	/* Check if server and thread exsist */
241	giacomo	674	if (server == NIL)
873	trimarchi	675	return FSF_ERR_BAD_ARGUMENT;
221	giacomo	676
241	giacomo	677	local_scheduler_level = SERVER_get_local_scheduler_level_from_budget(fsf_server_level,server);
		678	scheduler_id = SERVER_get_local_scheduler_id_from_budget(fsf_server_level,server);
868	trimarchi	679	#ifdef FSF_DEBUG
		680	kern_printf("sched policy %d", scheduler_id);
		681	#endif
888	trimarchi	682
		683	if (scheduler_id!=local_scheduler_arg->policy)
		684	return FSF_ERR_SCHED_POLICY_NOT_COMPATIBLE;
		685
221	giacomo	686	/* Check if thread is already bind */
		687	switch (scheduler_id) {
873	trimarchi	688	case FSF_POSIX:
221	giacomo	689
888	trimarchi	690	nrt_task_def_arg((NRT_TASK_MODEL )(local_scheduler_arg->params),arg);
		691	nrt_task_def_level((NRT_TASK_MODEL )(local_scheduler_arg->params),local_scheduler_level);
221	giacomo	692
888	trimarchi	693	*thread = task_create("POSIXSTAR", thread_code, local_scheduler_arg->params, NULL);
267	giacomo	694	if (*thread == NIL) {
		695	#ifdef FSF_DEBUG
		696	kern_printf("(FSF:Error creating thread)");
		697	#endif
873	trimarchi	698	return FSF_ERR_INTERNAL_ERROR;
267	giacomo	699	}
221	giacomo	700
241	giacomo	701	POSIXSTAR_setbudget(local_scheduler_level, *thread, (int)(server));
234	giacomo	702
221	giacomo	703	break;
868	trimarchi	704	case FSF_EDF:
221	giacomo	705
888	trimarchi	706	hard_task_def_arg((HARD_TASK_MODEL )(local_scheduler_arg->params),arg);
		707	hard_task_def_level((HARD_TASK_MODEL )(local_scheduler_arg->params),local_scheduler_level);
250	giacomo	708
888	trimarchi	709	*thread = task_create("EDFSTAR", thread_code, local_scheduler_arg->params, NULL);
250	giacomo	710	if (*thread == NIL)
873	trimarchi	711	return FSF_ERR_INTERNAL_ERROR;
250	giacomo	712
		713	EDFSTAR_setbudget(local_scheduler_level, *thread, (int)(server));
		714
221	giacomo	715	break;
235	giacomo	716
868	trimarchi	717	case FSF_RM:
235	giacomo	718
888	trimarchi	719	hard_task_def_arg((HARD_TASK_MODEL )(local_scheduler_arg->params),arg);
		720	hard_task_def_level((HARD_TASK_MODEL )(local_scheduler_arg->params),local_scheduler_level);
273	giacomo	721
888	trimarchi	722	*thread = task_create("RMSTAR", thread_code, local_scheduler_arg->params, NULL);
273	giacomo	723	if (*thread == NIL)
873	trimarchi	724	return FSF_ERR_INTERNAL_ERROR;
273	giacomo	725
		726	RMSTAR_setbudget(local_scheduler_level, *thread, (int)(server));
		727
		728	break;
868	trimarchi	729	case FSF_NONE:
334	giacomo	730
888	trimarchi	731	dummy_task_def_arg(( DUMMY_TASK_MODEL )(local_scheduler_arg->params),arg);
		732	dummy_task_def_level(( DUMMY_TASK_MODEL )(local_scheduler_arg->params),local_scheduler_level);
910	trimarchi	733
888	trimarchi	734	*thread = task_create("NONESTAR", thread_code, local_scheduler_arg->params, NULL);
334	giacomo	735	if (*thread == NIL)
873	trimarchi	736	return FSF_ERR_INTERNAL_ERROR;
334	giacomo	737
855	trimarchi	738	NONESTAR_setbudget(local_scheduler_level, *thread, (int)(server));
334	giacomo	739
		740	break;
910	trimarchi	741
		742	case FSF_TABLE_DRIVEN:
		743	{
		744	DUMMY_TASK_MODEL dt;
		745	dummy_task_default_model(dt);
		746
		747	dummy_task_def_arg(dt,arg);
		748	dummy_task_def_level(dt,local_scheduler_level);
		749
		750	*thread = task_create("TDSTAR", thread_code, &dt, NULL);
		751	if (*thread == NIL)
		752	return FSF_ERR_INTERNAL_ERROR;
		753
930	trimarchi	754	TDSTAR_setbudget(local_scheduler_level, *thread, (int)(server));
		755	TDSTAR_settable(local_scheduler_level, (fsf_table_driven_params_t *)(local_scheduler_arg->params));
910	trimarchi	756	}
		757	break;
		758
334	giacomo	759
221	giacomo	760	default:
873	trimarchi	761	return FSF_ERR_INTERNAL_ERROR;
221	giacomo	762	break;
		763	}
811	trimarchi	764
		765	#ifdef FSF_DEBUG
		766	kern_printf("(FSF:Insert thread = %d to Server = %d)",*thread,server);
		767	#endif
221	giacomo	768
		769	return 0;
		770
		771	}
		772
808	trimarchi	773	int fsf_settask_nopreemptive
221	giacomo	774	(fsf_server_id_t *server,
		775	pthread_t thread)
		776	{
		777	int local_scheduler_level, scheduler_id;
		778
241	giacomo	779	local_scheduler_level = SERVER_get_local_scheduler_level_from_pid(fsf_server_level,thread);
		780	scheduler_id = SERVER_get_local_scheduler_id_from_pid(fsf_server_level, thread);
221	giacomo	781
		782	switch (scheduler_id) {
868	trimarchi	783	case FSF_POSIX:
816	trimarchi	784	POSIXSTAR_set_nopreemtive_current(local_scheduler_level);
		785	return 1;
808	trimarchi	786	break;
868	trimarchi	787	case FSF_EDF:
808	trimarchi	788	EDFSTAR_set_nopreemtive_current(local_scheduler_level);
		789	return 1;
		790	break;
868	trimarchi	791	case FSF_RM:
812	trimarchi	792	RMSTAR_set_nopreemtive_current(local_scheduler_level);
		793	return 1;
808	trimarchi	794	break;
868	trimarchi	795	case FSF_NONE:
808	trimarchi	796	break;
		797	default:
		798	return -1;
		799	}
		800	return -1;
		801	}
		802
		803
		804	int fsf_settask_preemptive
		805	(fsf_server_id_t *server,
		806	pthread_t thread)
		807	{
		808	int local_scheduler_level, scheduler_id;
		809
		810	local_scheduler_level = SERVER_get_local_scheduler_level_from_pid(fsf_server_level,thread);
		811	scheduler_id = SERVER_get_local_scheduler_id_from_pid(fsf_server_level, thread);
		812
		813	switch (scheduler_id) {
868	trimarchi	814	case FSF_POSIX:
823	trimarchi	815	POSIXSTAR_unset_nopreemtive_current(local_scheduler_level);
816	trimarchi	816	return 1;
808	trimarchi	817	break;
868	trimarchi	818	case FSF_EDF:
808	trimarchi	819	EDFSTAR_unset_nopreemtive_current(local_scheduler_level);
		820	return 1;
		821	break;
868	trimarchi	822	case FSF_RM:
812	trimarchi	823	RMSTAR_unset_nopreemtive_current(local_scheduler_level);
		824	return 1;
808	trimarchi	825	break;
868	trimarchi	826	case FSF_NONE:
808	trimarchi	827	break;
		828	default:
		829	return -1;
		830	}
		831
		832	return -1;
		833
		834	}
		835
		836
		837	int fsf_get_server
868	trimarchi	838	(pthread_t thread,
		839	fsf_server_id_t *server)
808	trimarchi	840	{
		841	int local_scheduler_level, scheduler_id;
		842
		843	local_scheduler_level = SERVER_get_local_scheduler_level_from_pid(fsf_server_level,thread);
		844	scheduler_id = SERVER_get_local_scheduler_id_from_pid(fsf_server_level, thread);
		845
		846	switch (scheduler_id) {
868	trimarchi	847	case FSF_POSIX:
829	giacomo	848	*server = POSIXSTAR_getbudget(local_scheduler_level,thread);
		849	return 0;
868	trimarchi	850	case FSF_EDF:
829	giacomo	851	*server = EDFSTAR_getbudget(local_scheduler_level,thread);
		852	return 0;
868	trimarchi	853	case FSF_RM:
829	giacomo	854	*server = RMSTAR_getbudget(local_scheduler_level,thread);
		855	return 0;
868	trimarchi	856	case FSF_NONE:
855	trimarchi	857	*server = NONESTAR_getbudget(local_scheduler_level,thread);
829	giacomo	858	return 0;
235	giacomo	859	default:
221	giacomo	860	return -1;
		861	}
		862
		863	return -1;
		864
		865	}
		866
339	giacomo	867	int fsf_get_server_level(void)
		868	{
		869
		870	return fsf_server_level;
		871
		872	}
		873
221	giacomo	874	int fsf_cancel_contract
868	trimarchi	875	(fsf_server_id_t server)
221	giacomo	876	{
		877
		878	int local_scheduler_level, scheduler_id;
411	trimarchi	879	SYS_FLAGS f;
		880	TIME T,Q;
		881	int i=0;
221	giacomo	882
		883	#ifdef FSF_DEBUG
868	trimarchi	884	kern_printf("(Remove server %d)",server);
221	giacomo	885	#endif
		886
		887	/* Check server id */
868	trimarchi	888	if (server < 0)
873	trimarchi	889	return FSF_ERR_BAD_ARGUMENT;
221	giacomo	890
868	trimarchi	891	local_scheduler_level = SERVER_get_local_scheduler_level_from_budget(fsf_server_level,server);
		892	scheduler_id = SERVER_get_local_scheduler_id_from_budget(fsf_server_level,server);
221	giacomo	893
		894	switch (scheduler_id) {
868	trimarchi	895	case FSF_POSIX:
221	giacomo	896
		897	/* Check if some thread use the server */
868	trimarchi	898	if(POSIXSTAR_budget_has_thread(local_scheduler_level,server))
873	trimarchi	899	return FSF_ERR_NOT_CONTRACTED_SERVER;
221	giacomo	900
		901	break;
868	trimarchi	902	case FSF_EDF:
235	giacomo	903	/* Check if some thread use the server */
868	trimarchi	904	if(EDFSTAR_budget_has_thread(local_scheduler_level,server))
873	trimarchi	905	return FSF_ERR_NOT_CONTRACTED_SERVER;
235	giacomo	906	break;
		907
868	trimarchi	908	case FSF_RM:
235	giacomo	909	/* Check if some thread use the server */
868	trimarchi	910	if(RMSTAR_budget_has_thread(local_scheduler_level,server))
873	trimarchi	911	return FSF_ERR_NOT_CONTRACTED_SERVER;
235	giacomo	912
221	giacomo	913	break;
334	giacomo	914
868	trimarchi	915	case FSF_NONE:
334	giacomo	916	/* Check if some thread use the server */
868	trimarchi	917	if(NONESTAR_budget_has_thread(local_scheduler_level,server))
873	trimarchi	918	return FSF_ERR_NOT_CONTRACTED_SERVER;
334	giacomo	919
		920	break;
		921
221	giacomo	922	}
		923
868	trimarchi	924	SERVER_removebudget(fsf_server_level,server);
221	giacomo	925
		926	level_free_descriptor(local_scheduler_level);
405	trimarchi	927
868	trimarchi	928	remove_contract(server);
411	trimarchi	929
		930	f=kern_fsave();
		931	if (recalculate_contract(fsf_max_bw)==-1) {
		932	kern_frestore(f);
873	trimarchi	933	return FSF_ERR_INTERNAL_ERROR;
411	trimarchi	934	}
		935	#ifdef FSF_DEBUG
		936	kern_printf("(Adjust budget)");
		937	#endif
		938	for (i=0; i<current_server; i++) {
		939	mul32div32to32(MAX_BANDWIDTH,server_list[i].Cmin,server_list[i].U,T);
417	giacomo	940	if (T > server_list[i].Tmin ) {
411	trimarchi	941	server_list[i].actual_budget = server_list[i].Cmin;
		942	server_list[i].actual_period = T;
417	giacomo	943	#ifdef FSF_DEBUG
		944	kern_printf("(1 - Q %ld T %ld)", server_list[i].actual_budget, server_list[i].actual_period);
		945	#endif
661	giacomo	946
908	trimarchi	947	if (server_list[i].d_equals_t == true)
661	giacomo	948	adjust_SERVER_budget(server_list[i].server,server_list[i].Cmin, T, T);
		949	else
		950	adjust_SERVER_budget(server_list[i].server,server_list[i].Cmin, T, server_list[i].deadline);
		951
411	trimarchi	952	} else {
417	giacomo	953	mul32div32to32(server_list[i].Tmin,server_list[i].U,MAX_BANDWIDTH,Q);
411	trimarchi	954	server_list[i].actual_budget = Q;
417	giacomo	955	server_list[i].actual_period = server_list[i].Tmin;
		956	#ifdef FSF_DEBUG
		957	kern_printf("(2 - Q %ld T %ld)", server_list[i].actual_budget, server_list[i].actual_period);
		958	#endif
661	giacomo	959
908	trimarchi	960	if (server_list[i].d_equals_t == true)
661	giacomo	961	adjust_SERVER_budget(server_list[i].server,Q, server_list[i].Tmin, server_list[i].Tmin);
		962	else
		963	adjust_SERVER_budget(server_list[i].server,Q, server_list[i].Tmin, server_list[i].deadline);
		964
411	trimarchi	965	}
416	trimarchi	966	server_list[i].U=server_list[i].Umin;
411	trimarchi	967
		968	}
221	giacomo	969
405	trimarchi	970
411	trimarchi	971	kern_frestore(f);
221	giacomo	972
		973	return 0;
411	trimarchi	974
221	giacomo	975	}
		976
881	trimarchi	977	bandwidth_t SERVER_return_bandwidth() {
		978	int i=0;
		979	bandwidth_t U;
		980	U=0;
		981	for(i=0;i<current_server;i++) {
		982
		983	U+=server_list[i].Umin;
		984
		985	}
		986
		987	return U;
		988	}
		989
405	trimarchi	990	int recalculate_contract(bandwidth_t U) {
416	trimarchi	991	bandwidth_t current_bandwidth;
418	giacomo	992	unsigned int temp_U;
416	trimarchi	993	int Qt;
405	trimarchi	994	int isok=0;
		995	int i=0;
868	trimarchi	996	int target_importance=FSF_DEFAULT_IMPORTANCE;
		997
		998	#define MAX_IMPORTANCE 5
405	trimarchi	999
896	trimarchi	1000	#ifdef FSF_DEBUG
		1001	int temp;
		1002
908	trimarchi	1003	kern_printf("(RC)");
896	trimarchi	1004	#endif
405	trimarchi	1005
		1006	/* The current bandwidth is the min bandwidth */
881	trimarchi	1007	current_bandwidth=SERVER_return_bandwidth(fsf_server_level);
405	trimarchi	1008	#ifdef FSF_DEBUG
908	trimarchi	1009	kern_printf("(SER%d)", current_server);
405	trimarchi	1010	#endif
880	trimarchi	1011	//kern_printf("(CS:%d)", current_server);
405	trimarchi	1012	do {
		1013	current_bandwidth=0;
		1014	Qt=0;
410	trimarchi	1015	for (i=0; i<current_server; i++) {
843	trimarchi	1016	if (server_list[i].Is==target_importance
		1017	&& server_list[i].U<server_list[i].Umax && server_list[i].Qs>0)
405	trimarchi	1018	Qt+=server_list[i].Qs;
416	trimarchi	1019	current_bandwidth+=server_list[i].U;
868	trimarchi	1020	#ifdef FSF_DEBUG
843	trimarchi	1021	kern_printf("(Qs %d, Qt %d, Is %d)", server_list[i].Qs, Qt,server_list[i].Is);
868	trimarchi	1022	#endif
405	trimarchi	1023	}
413	trimarchi	1024
868	trimarchi	1025	#ifdef FSF_DEBUG
908	trimarchi	1026	kern_printf("(TQ%d)", Qt);
868	trimarchi	1027	#endif
405	trimarchi	1028	isok=1;
410	trimarchi	1029	for (i=0; i<current_server; i++) {
843	trimarchi	1030	if (server_list[i].Is==target_importance && server_list[i].U<server_list[i].Umax && server_list[i].Qs>0) {
416	trimarchi	1031	temp_U=server_list[i].U;
		1032	server_list[i].U=U-current_bandwidth;
		1033	mul32div32to32(server_list[i].U, server_list[i].Qs, Qt, server_list[i].U);
		1034	temp_U+=server_list[i].U;
		1035
		1036	if (temp_U<=server_list[i].Umin) {
405	trimarchi	1037	server_list[i].U=server_list[i].Umin;
416	trimarchi	1038	} else if (temp_U>server_list[i].Umax) {
		1039	server_list[i].U=server_list[i].Umax;
405	trimarchi	1040	isok=0;
		1041	} else server_list[i].U=temp_U;
		1042
		1043	#ifdef FSF_DEBUG
		1044	mul32div32to32(server_list[i].U,100, MAX_BANDWIDTH, temp);
908	trimarchi	1045	kern_printf("(SER %d BW %d)", server_list[i].server, temp);
405	trimarchi	1046	#endif
		1047	}
		1048	}
843	trimarchi	1049	target_importance++;
880	trimarchi	1050	} while (!isok \|\| target_importance<=MAX_IMPORTANCE);
		1051	//kern_printf("(RNDNL)");
405	trimarchi	1052	return 0;
		1053	}
		1054
937	trimarchi	1055
		1056	int fsf_negotiate_group
		1057	(const fsf_contracts_group_t *contracts_up,
		1058	const fsf_servers_group_t *severs_down,
		1059	fsf_servers_group_t *severs_up,
		1060	bool *accepted) {
		1061
		1062	return 0;
		1063	}
		1064
221	giacomo	1065	int fsf_renegotiate_contract
		1066	(const fsf_contract_parameters_t *new_contract,
		1067	fsf_server_id_t server)
		1068	{
679	trimarchi	1069
908	trimarchi	1070	struct mess msg;
221	giacomo	1071
679	trimarchi	1072	// send response server is -1 if the operation fail
908	trimarchi	1073	msg.type=RENEGOTIATE_CONTRACT;
		1074	memmove(&msg.contract,new_contract, sizeof(fsf_contract_parameters_t));
		1075	msg.server = server;
		1076	//kern_printf("(REN %d)", server);
		1077	port_send(channel[1],&msg,BLOCK);
221	giacomo	1078
908	trimarchi	1079	port_receive(channel[0], &msg, BLOCK);
859	trimarchi	1080
908	trimarchi	1081	//kern_printf("(REN %d)", msg.server);
		1082	if (msg.server==-1) return FSF_ERR_CONTRACT_REJECTED;
679	trimarchi	1083
405	trimarchi	1084	return 0;
221	giacomo	1085	}
241	giacomo	1086
868	trimarchi	1087	int fsf_request_contract_renegotiation
		1088	(const fsf_contract_parameters_t *new_contract,
		1089	fsf_server_id_t server,
		1090	int sig_notify,
		1091	union sigval sig_value)
		1092	{
		1093
908	trimarchi	1094	struct mess msg;
868	trimarchi	1095
		1096	// send response server is -1 if the operation fail
908	trimarchi	1097	msg.type=REQUEST_RENEGOTIATE_CONTRACT;
		1098	memmove(&msg.contract,new_contract, sizeof(fsf_contract_parameters_t));
		1099	msg.server = server;
910	trimarchi	1100	msg.sig_notify=sig_notify;
		1101	msg.sig_value=sig_value;
		1102	msg.process=exec_shadow;
868	trimarchi	1103
908	trimarchi	1104	port_send(channel[1],&msg,BLOCK);
868	trimarchi	1105
908	trimarchi	1106	port_receive(channel[0], &msg, BLOCK);
868	trimarchi	1107
908	trimarchi	1108	if (msg.server==-1) return FSF_ERR_CONTRACT_REJECTED;
868	trimarchi	1109
		1110	return 0;
		1111	}
		1112
407	giacomo	1113	void print_server_list()
		1114	{
		1115
		1116	int i;
		1117
		1118	kern_printf("Server List\n");
		1119
410	trimarchi	1120	for(i=0;i<current_server;i++) {
407	giacomo	1121
662	giacomo	1122	kern_printf("[%d] Q:%d T:%d D:%d [DeT = %d]\n",server_list[i].server,(int)server_list[i].actual_budget,(int)server_list[i].actual_period,(int)server_list[i].deadline,(int)server_list[i].d_equals_t);
407	giacomo	1123
		1124	}
		1125
		1126	}
808	trimarchi	1127
		1128
		1129	int fsf_get_remain_budget(fsf_server_id_t server) {
		1130
825	trimarchi	1131	return SERVER_get_remain_capacity(fsf_server_level, server);
808	trimarchi	1132	}
868	trimarchi	1133
		1134	int fsf_get_budget_and_period
		1135	(fsf_server_id_t server,
		1136	struct timespec *budget,
		1137	struct timespec *period) {
		1138	TIME bg;
		1139	TIME pd;
		1140
		1141	if (!SERVER_getbudgetinfo(fsf_server_level, &bg, &pd, NULL, server)) {
		1142	if (budget) {
		1143	NULL_TIMESPEC(budget);
		1144	ADDUSEC2TIMESPEC(bg, budget);
		1145	}
		1146	if (period) {
		1147	NULL_TIMESPEC(period);
		1148	ADDUSEC2TIMESPEC(pd, period);
		1149	}
		1150
		1151	return 0;
		1152	}
		1153	return FSF_ERR_BAD_ARGUMENT;
		1154	}
		1155
		1156	int
		1157	fsf_set_service_thread_data
		1158	(const struct timespec *budget,
		1159	const struct timespec *period,
		1160	bool *accepted) {
		1161
		1162	if (budget==NULL && period==NULL) return FSF_ERR_BAD_ARGUMENT;
		1163	fsf_set_contract_basic_parameters(&service_contract,budget,period,FSF_DEFAULT_WORKLOAD);
		1164	*accepted = !fsf_renegotiate_contract(&service_contract,service_server)?true:false;
		1165	return 0;
		1166
		1167	}
		1168
		1169
		1170
		1171	int fsf_get_service_thread_data
		1172	(struct timespec *budget,
		1173	struct timespec *period) {
		1174
		1175	return fsf_get_budget_and_period(service_server, budget, period);
		1176
		1177	}
		1178

Subversion Repositories shark

(root)/shark/trunk/ports/first/first-server.c @ 1063 - Rev 941