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#include <stdio.h>

#include <unistd.h>

#include <time.h>

#include <errno.h>

#include <pthread.h>

#include <sched.h>

#include <fsf.h>

#include "timespec_operations.h"

#include "fsf_os_compatibility.h"

/*

 * This is part of the common tests:

 ** Test of the synchronization object primitives

  -  Create two servers, server A and server B. Each with 5 seconds budget

     and 20 seconds period (minimum values equal to the maximum ones),

     preemption levels for A = 4 and for B = 3, A is INDETERMINATE workload

     and B is BOUNDED workload. Deadline is 19.9 seconds for A and it is

     equal to the period for B. Server A is bound to the main thread with

     fsf_negotiate_contract_for_myself, server B is created with

     fsf_negotiate_contract_for_new_thread.

  -  Once the main program becomes server A, it creates a Synch_object

     and stores its reference in the global variable SO1_handle, then it

     creates server B for a new thread and releases

     the CPU for 0.5 second. The new thread in server B after starting,

     just waits for SO1 to be signaled, after that it executes during 1 second,

     then it waits for the the synchronization object SO1_handle to be signaled

     again, and finally ends.

  -  After the first release of the CPU, the main thread in server A

     signals SO1_handle and then releases the CPU for 0.5 second again,

     after that it signals SO1_handle a second time and releases the CPU for 2 seconds.

     Finally it destroy the synchronization object OS1 and ends.

*/

#define LOCAL_ERROR(nn,ss) {if(errno==0) errno=(nn); perror(ss); return (nn);}

//#define ERROR(nn,ss) {if(errno==0) errno=(nn); perror(ss); exit (nn);}

#define FSF_MAX_N_TIME_VALUES     1000

struct timespec            instant_zero = {0,0};

int                        main_priority = 4;

struct timespec            last_time = {0,0};

fsf_server_id_t            server_A = 0;

fsf_server_id_t            server_B = 0;

fsf_synch_obj_handle_t     SO1_handle;

extern int cal_cycles;

extern int calibrate_cycle(void);

extern void eat(TIME wait);

struct pseudo_printed_results {

  char            *s;

  struct timespec  t;

}                                  res[FSF_MAX_N_TIME_VALUES];

volatile int                       res_index = 0;

//reports the real-time it is

//with a comment and the difference to the last reported time

int

put_time(const struct timespec *time, char *s)

{

  struct timespec now = {0,0};

  int terror;

//  if(time == (struct timespec *)NULL) {

    if ((terror=clock_gettime(CLOCK_REALTIME,&now)))

      ERROR(terror,"clock_gettime failed");

//  }

//  else {

//    now = *time;

//  }

  res[res_index].s = s;

  res[res_index].t = now;

  //  printf("(%2d)", res_index+1);

  //  printf("%-60s", s);

  //  printf(" %2d %9d\n", now.tv_sec,now.tv_nsec);

  if (res_index < FSF_MAX_N_TIME_VALUES) res_index++;

  return 0;

} /* End of put_time */

int

print_time_results()

{

  struct timespec now = {0,0};

  struct timespec diff = {0,0};

  char            *s = NULL;

  int i;

  printf("\n");

  for (i=0;i<res_index;i++)

  {

    now  = res[i].t;

    s    = res[i].s;

    if (s==NULL) s = "  - timestamp - ";

    diff = now;

    decr_timespec(&diff, &last_time);

    last_time = now;

    printf("(%2d)", i+1);

    printf("%-60s", s);

    printf(" %2d %9d", now.tv_sec,now.tv_nsec);

    printf(" [diff=%13.9f]\n", (double)diff.tv_sec+((double)diff.tv_nsec/(double)1000000000));

  }

  return 0;

} /* End of print_time_results */

int

fsf_priority_map (unsigned long plevel)

{

  return plevel;

}

void * fsf_bounded_server_B (void * arg)

{

  //fsf_server_id_t       in = *((fsf_server_id_t *)arg);

  int                   terror=0;

  //fsf_server_id_t     server;

  //struct timespec  next_activation_time = in.offset;

  struct timespec  next_budget;

  struct timespec  next_period;

  bool             was_deadline_missed = 0;

  bool             was_budget_overran = 0;

  //executes for 0.1 second

  put_time(NULL, "B start one tenth of second execution   ");

  eat(100000);

  put_time(NULL, "B complete one tenth of second execution");

  //wait for the the synchronization object SO1_handle to be signaled

  put_time(NULL, "B called first fsf_schedule_triggered_job     ");

  if ((terror=fsf_schedule_triggered_job (

                                       SO1_handle,

                                       &next_budget,

                                       &next_period,

                                       &was_deadline_missed,

                                       &was_budget_overran)))

  {

     ERROR(terror,"fsf_bounded_server: first call to fsf_schedule_triggered_job failed");

  }

  put_time(NULL, "B returned from first fsf_schedule_triggered_job");

  //executes for 1 second

  put_time(NULL, "B start 1 second execution   ");

  eat(1000000);

  put_time(NULL, "B complete the 1 second execution");

  //wait for the the synchronization object SO1_handle to be signaled again

  put_time(NULL, "B called fsf_schedule_triggered_job");

  terror=fsf_schedule_triggered_job (

                                       SO1_handle,

                                       &next_budget,

                                       &next_period,

                                       &was_deadline_missed,

                                       &was_budget_overran);

  put_time(NULL, "B returned from fsf_schedule_triggered_job");

  if (terror)

  {

     ERROR(terror,"fsf_bounded_server: second call to fsf_schedule_triggered_job failed");

  }

  //end

  put_time(NULL, "B ends");

  return 0;

} /* End of fsf_bounded_server_B */

int main()

{

   struct sched_param   param;

   struct timespec      half_second= {0,500000000};

   struct timespec      tmp = {0,0};

   int                  terror = 0;

  fsf_contract_parameters_t  contract;

  struct timespec    budget_min = {7,0};

  struct timespec    period_max = {20,0};

  struct timespec    budget_max = {7,0};

  struct timespec    period_min = {20,0};

  fsf_workload_t     workload = FSF_INDETERMINATE;

  bool               d_equals_t = false;

  struct timespec    deadline = {19,900000000};

  int                budget_overrun_sig_notify = FSF_NULL_SIGNAL;   // 0

  union sigval       budget_overrun_sig_value = {0};

  int                deadline_miss_sig_notify = FSF_NULL_SIGNAL;    // 0

  union sigval       deadline_miss_sig_value = {0};

  fsf_granularity_t      granularity = FSF_DEFAULT_GRANULARITY;       // CONTINUOUS

  fsf_utilization_set_t *utilization_set = FSF_NULL_UTILIZATION_SET;  // NULL

  int                    quality = 1;

  int                    importance = FSF_DEFAULT_IMPORTANCE;         // 1

  fsf_preemption_level_t   preemption_level;

  fsf_critical_sections_t *critical_sections = NULL;

  pthread_t                task_in_b;

  calibrate_cycle();

  fsf_init();

  SERIAL_CONSOLE_INIT;

  param.sched_priority = main_priority;

  if ((terror=pthread_setschedparam(pthread_self(), SCHED_FIFO, &param)))

    ERROR(terror,"pthread_setschedparam");

  instant_zero.tv_sec = 10000000;

  instant_zero.tv_nsec = 10000000;

  clock_settime(CLOCK_REALTIME,&instant_zero);

  clock_gettime(CLOCK_REALTIME,&instant_zero);

  last_time = instant_zero;

  put_time(&instant_zero, "instant_zero");

  put_time(NULL, "printing point 1");

  put_time(NULL, "printing point 2");

  if ((terror=fsf_initialize_contract(&contract)))

  {

     printf(" Initialize fail for server A\n");

     ERROR(terror,"fsf_initialize_contract failed");

  }

  if ((terror=fsf_set_contract_basic_parameters (&contract,

                                    &budget_min,

                                    &period_max,                                  

                                    workload)))

  {

     printf("Set_Basic_Parameters failed for server A\n");

     ERROR(terror,"set_contract_basic_parameters failed");

  }

  if ((terror=fsf_set_contract_timing_requirements (&contract,

                                      d_equals_t,

                                      (d_equals_t?NULL:&deadline),

                                      budget_overrun_sig_notify,

                                      budget_overrun_sig_value,

                                      deadline_miss_sig_notify,

                                      deadline_miss_sig_value)))

  {

     printf("Set_Timing_Requirements failed for server A\n");

     ERROR(terror,"fsf_set_contract_timing_requirements failed");

  }

  if ((terror=fsf_set_contract_reclamation_parameters (&contract,

                                                       &budget_max,

                                                       &period_min,

                                                       granularity,

                                                       utilization_set,

                                                       quality,

                                                       importance)))

  {

     printf("Set_Reclamation_Parameters failed for server A\n");

     ERROR(terror,"fsf_set_contract_reclamation_parameters failed");

  }

  preemption_level = (fsf_preemption_level_t) param.sched_priority;

  if ((terror=fsf_set_contract_synchronization_parameters (&contract,                                            

                                              critical_sections)))

  {

     printf("Set_Synchronization_Parameters failed for server A\n");

     ERROR(terror,"fsf_set_contract_synchronization_parameters failed");

  }

  put_time(NULL, "A start first server contract negotiation");

  terror = fsf_negotiate_contract_for_myself (&contract, &server_A);

  put_time(NULL, "A end first server contract negotiation");

  if (terror)

  {

    printf("Negotiate_Contract failed for server A\n");

    ERROR(terror,"fsf_negotiate_contract_for_myself failed");

  }

  //creation of the synchronization object

  put_time(NULL, "A start creating synchronization object");

  terror=fsf_create_synch_obj(&SO1_handle);

  put_time(NULL, "A end creating synchronization object");

  if (terror)

  {

     ERROR(terror,"fsf_signal_synchobject failed");    

  }

  //preparation of server B

  workload = FSF_BOUNDED;

  d_equals_t = true;

  //deadline.tv_sec = deadline.tv_nsec = 0;

  if ((terror=fsf_set_contract_basic_parameters (&contract,

                                    &budget_min,

                                    &period_max,                                

                                    workload)))

  {

     printf("Set_Basic_Parameters failed for server B\n");

     ERROR(terror,"set_contract_basic_parameters failed");

  }

  if ((terror=fsf_set_contract_timing_requirements (&contract,

                                      d_equals_t,

                                      (d_equals_t?NULL:&deadline),

                                      budget_overrun_sig_notify,

                                      budget_overrun_sig_value,

                                      deadline_miss_sig_notify,

                                      deadline_miss_sig_value)))

  {

     printf("Set_Timing_Requirements failed for server B\n");

     ERROR(terror,"fsf_set_contract_timing_requirements failed");

  }

  preemption_level--;

  if ((terror=fsf_set_contract_synchronization_parameters (&contract,                                            

                                              critical_sections)))

  {

     printf("Set_Synchronization_Parameters failed for server B\n");

     ERROR(terror,"fsf_set_contract_synchronization_parameters failed");

  }

  put_time(NULL, "A starts server B contract negotiation");

  terror=fsf_negotiate_contract_for_new_thread (&contract, &server_B, &task_in_b, NULL, fsf_bounded_server_B, NULL);

  put_time(NULL, "A ends server B contract negotiation");

  if (terror)

  {

     printf("Negotiate_Contract failed for server B\n");

     ERROR(terror,"fsf_negotiate_contract_for_new_thread failed");

  }

  if(!server_B) ERROR((-1), "Contract B not accepted");

  put_time(NULL, "A starts a half second nanosleep");

  if ((terror=nanosleep(&half_second,NULL)))

  ERROR(terror, "nanosleep 1 failed");

  put_time(NULL, "A completes the half second nanosleep");

  put_time(NULL, "A starts post-signaling synchronization object");

  terror=fsf_signal_synch_obj(SO1_handle);

  put_time(NULL, "A ends post-signaling synchronization object");

  if (terror)

  {

     ERROR(terror,"fsf_signal_synchobject failed");

  }

  half_second.tv_sec = 3;

  half_second.tv_nsec = 0;

  put_time(NULL, "A starts another 3s nanosleep");

  if ((terror=nanosleep(&half_second,NULL)))

    ERROR(terror, "nanosleep 2 failed");

  put_time(NULL, "A completes the other half second nanosleep");

  put_time(NULL, "A starts pre-signaling synchronization object");

  terror=fsf_signal_synch_obj(SO1_handle);

  put_time(NULL, "A ends pre-signaling synchronization object");

  if (terror)

  {

     ERROR(terror,"fsf_signal_synchobject failed");

  }

  tmp.tv_sec = 2;

  tmp.tv_nsec = 0;

  put_time(NULL, "A starts a final 2 seconds nanosleep");

  if ((terror=nanosleep(&tmp,NULL)))

    ERROR(terror, "third nanosleep failed");

  put_time(NULL, "A ends the final 2 seconds nanosleep");

  put_time(NULL, "A starts destroying synchronization object");

  terror=fsf_destroy_synch_obj(SO1_handle);

  put_time(NULL, "A ends destroying synchronization object");

  if (terror)

  {

     ERROR(terror,"fsf_destroy_synchobject failed");

  }

  print_time_results();

  STANDARD_CONSOLE_INIT; //marte1.26i+

  //print_time_results();

  printf("\nThe End.\n");

  //stop_scheduler = 1;

  exit(0);

  return 0;

} /* End of main */