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/* |
* Project: S.Ha.R.K. |
* |
* Coordinators: |
* Giorgio Buttazzo <giorgio@sssup.it> |
* Paolo Gai <pj@gandalf.sssup.it> |
* |
* Authors : |
* Giacomo Guidi <giacomo@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 |
*/ |
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/* |
* Copyright (C) 2002 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 WARRANTY; without even the implied warranty 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 |
* |
*/ |
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#include "kernel/kern.h" |
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#include "modules/edf.h" |
#include "modules/cbs.h" |
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#include "pthread.h" |
#include "time.h" |
#include "posix.h" |
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#include "fsf_contract.h" |
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#include "cbsstar.h" |
#include "posixstar.h" |
#include "modules/rr.h" |
#include "modules/dummy.h" |
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#include "modules/sem.h" |
#include "modules/pi.h" |
#include "modules/pc.h" |
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#include "modules/hartport.h" |
#include "modules/cabs.h" |
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#include "drivers/keyb.h" |
#include <stdlib.h> |
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// -------------------------------------------------- |
// -------------------------------------------------- |
// Init Part |
// -------------------------------------------------- |
// -------------------------------------------------- |
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/*+ sysyem tick in us +*/ |
#define TICK 0 |
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/*+ RR tick in us +*/ |
#define RRTICK 10000 |
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extern int cbsstar_level; |
extern int posix_level; |
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TIME __kernel_register_levels__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
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EDF_register_level(EDF_ENABLE_ALL); |
posix_level = POSIX_register_level(RRTICK, RR_MAIN_YES, mb, 32); |
dummy_register_level(); |
cbsstar_level = CBSSTAR_register_level(4, 0); |
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// for the keyboard... |
CBS_register_level(CBS_ENABLE_ALL, 0); |
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PI_register_module(); |
PC_register_module(); |
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SEM_register_module(); |
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PTHREAD_register_module(1, 0, 1); |
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return TICK; |
} |
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TASK __init__(void *arg) |
{ |
struct multiboot_info *mb = (struct multiboot_info *)arg; |
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HARTPORT_init(); |
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KEYB_init(NULL); |
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__call_main__(mb); |
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return (void *)0; |
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} |
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// -------------------------------------------------- |
// -------------------------------------------------- |
// The Test |
// -------------------------------------------------- |
// -------------------------------------------------- |
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pthread_t j1 = -1; |
pthread_t j2 = -1; |
pthread_t j3 = -1; |
pthread_t j4 = -1; |
fsf_server_id_t server1 = -1; |
fsf_server_id_t server2 = -1; |
fsf_server_id_t server3 = -1; |
fsf_server_id_t server4 = -1; |
fsf_contract_parameters_t contract1, contract2; |
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pthread_mutex_t mux; |
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#define TASK_PERIOD 1000000 |
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extern struct timespec maxdiffint; |
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void *periodic_star(void *arg) |
{ |
struct timespec actual,end,next_time; |
int actpersecond,act,cycle; |
int mean,nmean; |
bool was_deadline_missed, was_budget_overran; |
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act = 0; |
actpersecond = 0; |
mean = 0; |
nmean = 0; |
cycle = 0; |
for (;;) { |
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kern_gettime(&actual); |
cycle++; |
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if (act == 0) { |
TIMESPEC_ASSIGN(&end,&actual); |
end.tv_sec++; |
} |
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if (TIMESPEC_A_LT_B(&actual,&end)) { |
act++; |
} else { |
actpersecond = act; |
act = 0; |
mean = (mean * nmean + actpersecond) / (nmean+1); |
nmean++; |
} |
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pthread_mutex_lock(&mux); |
printf_xy(0,exec_shadow,WHITE,"Thread %3d Act_per_Second = %8d Mean = %8d Cycle = %8d", |
exec_shadow,actpersecond,mean,cycle); |
printf_xy(50,20,RED,"<DISTIME Ts%ld:Tns%ld>",maxdiffint.tv_sec,maxdiffint.tv_nsec); |
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pthread_mutex_unlock(&mux); |
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kern_gettime(&next_time); |
ADDUSEC2TIMESPEC(TASK_PERIOD, &next_time); |
fsf_schedule_next_timed_job(NULL, NULL, NULL, &was_deadline_missed, &was_budget_overran); |
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} |
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return NULL; |
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} |
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void *star(void *arg) |
{ |
struct timespec actual,end; |
int actpersecond,act; |
int mean,nmean,cycle; |
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act = 0; |
actpersecond = 0; |
mean = 0; |
nmean = 0; |
cycle = 0; |
for (;;) { |
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cycle++; |
kern_gettime(&actual); |
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if (act == 0) { |
TIMESPEC_ASSIGN(&end,&actual); |
end.tv_sec++; |
} |
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if (TIMESPEC_A_LT_B(&actual,&end)) { |
act++; |
} else { |
actpersecond = act; |
act = 0; |
mean = (mean * nmean + actpersecond) / (nmean+1); |
nmean++; |
} |
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pthread_mutex_lock(&mux); |
printf_xy(0,exec_shadow,WHITE,"Thread %3d Act_per_Second = %8d Mean = %8d Cycle = %8d", |
exec_shadow,actpersecond,mean,cycle); |
pthread_mutex_unlock(&mux); |
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} |
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return NULL; |
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} |
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void *edftask(void *arg) |
{ |
int i,j; |
while(1) { |
for (i=0;i<5; i++) { |
for (j=0; j<10; j++); |
//cputc('#'); |
//cputs((char *)(arg)); |
} |
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task_endcycle(); |
} |
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return NULL; |
} |
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void create() |
{ |
HARD_TASK_MODEL mhard; |
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struct timespec period1 = {0,100000000}; |
struct timespec period2 = {0,100000000}; |
struct timespec budget1 = {0,30000000}; |
struct timespec budget2 = {0,30000000}; |
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PID t1, t2; |
int err; |
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kern_printf("(Start Create)"); |
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hard_task_default_model(mhard); |
hard_task_def_ctrl_jet(mhard); |
hard_task_def_mit(mhard,32000); |
hard_task_def_wcet(mhard,3000); |
hard_task_def_arg(mhard,(void *)"X"); |
hard_task_def_group(mhard,1); |
hard_task_def_periodic(mhard); |
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t1 = task_create("X", edftask, &mhard, NULL); |
if (t1 == NIL) { |
perror("Could not create task X ..."); |
sys_end(); |
} |
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hard_task_def_mit(mhard,32000); |
hard_task_def_wcet(mhard,3000); |
hard_task_def_arg(mhard,(void *)"Y"); |
t2 = task_create("Y", edftask, &mhard, NULL); |
if (t2 == NIL) { |
perror("Could not create task Y ..."); |
sys_end(); |
} |
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group_activate(1); |
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err = pthread_create(&j1, NULL, star, (void *)"A"); |
if (err) { |
perror("Could not create task A ..."); |
sys_end(); |
} |
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err = pthread_create(&j2, NULL, periodic_star, (void *)"B"); |
if (err) { |
perror("Could not create task B ..."); |
sys_end(); |
} |
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err = pthread_create(&j3, NULL, star, (void *)"C"); |
if (err) { |
perror("Could not create task C ..."); |
sys_end(); |
} |
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err = pthread_create(&j4, NULL, periodic_star, (void *)"D"); |
if (err) { |
perror("Could not create task D ..."); |
sys_end(); |
} |
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fsf_initialize_contract(&contract1); |
fsf_set_contract_basic_parameters(&contract1,&budget1,&period1,NULL,NULL,FSF_DEFAULT_WORKLOAD); |
fsf_initialize_contract(&contract2); |
fsf_set_contract_basic_parameters(&contract2,&budget2,&period2,NULL,NULL,FSF_DEFAULT_WORKLOAD); |
fsf_set_local_scheduler_parameter(&contract2,FSF_SCHEDULER_EDF); |
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kern_printf("(End Create)"); |
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} |
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int main(int argc, char **argv) |
{ |
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char ch = 0; |
int err; |
NRT_TASK_MODEL nrt; |
HARD_TASK_MODEL ht; |
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pthread_mutex_init(&mux,NULL); |
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create(); |
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nrt_task_default_model(nrt); |
nrt_task_def_save_arrivals(nrt); |
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hard_task_default_model(ht); |
hard_task_def_mit(ht,1000000); |
hard_task_def_wcet(ht,10000); |
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do { |
ch = keyb_getch(BLOCK); |
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switch(ch) { |
case '1': |
err = fsf_bind_thread_to_server(server1,j1,&nrt); |
kern_printf("(%d)",err); |
break; |
case '2': |
err = fsf_bind_thread_to_server(server2,j2,&ht); |
kern_printf("(%d)",err); |
break; |
case '3': |
err = fsf_bind_thread_to_server(server1,j3,&nrt); |
kern_printf("(%d)",err); |
break; |
case '4': |
err = fsf_bind_thread_to_server(server2,j4,&ht); |
kern_printf("(%d)",err); |
break; |
case '5': |
err = fsf_unbind_thread_from_server(j1); |
kern_printf("(%d)",err); |
break; |
case '6': |
err = fsf_unbind_thread_from_server(j2); |
kern_printf("(%d)",err); |
break; |
case '7': |
err = fsf_unbind_thread_from_server(j3); |
kern_printf("(%d)",err); |
break; |
case '8': |
err = fsf_unbind_thread_from_server(j4); |
kern_printf("(%d)",err); |
break; |
case 'q': |
err = fsf_negotiate_contract(&contract1,&server1); |
cprintf("(%d)",err); |
break; |
case 'w': |
err = fsf_negotiate_contract(&contract2,&server2); |
kern_printf("(%d)",err); |
break; |
case 'e': |
err = fsf_negotiate_contract(&contract1,&server3); |
kern_printf("(%d)",err); |
break; |
case 'r': |
err = fsf_cancel_contract(&server1); |
kern_printf("(%d)",err); |
break; |
case 't': |
err = fsf_cancel_contract(&server2); |
kern_printf("(%d)",err); |
break; |
case 'y': |
err = fsf_cancel_contract(&server3); |
kern_printf("(%d)",err); |
break; |
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} |
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} while(ch != ESC); |
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sys_end(); |
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return 0; |
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} |
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