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/shark/tags/rel_0_4/kernel/modules/rm.c
20,11 → 20,11
 
/**
------------
CVS : $Id: rm.c,v 1.1.1.1 2002-03-29 14:12:52 pj Exp $
CVS : $Id: rm.c,v 1.4 2003-01-07 17:07:50 pj Exp $
 
File: $File$
Revision: $Revision: 1.1.1.1 $
Last update: $Date: 2002-03-29 14:12:52 $
Revision: $Revision: 1.4 $
Last update: $Date: 2003-01-07 17:07:50 $
------------
 
This file contains the scheduling module RM (Rate Monotonic)
41,7 → 41,7
**/
 
/*
* Copyright (C) 2000 Paolo Gai
* Copyright (C) 2000,2002 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
71,7 → 71,6
 
/*+ Status used in the level +*/
#define RM_READY MODULE_STATUS_BASE /*+ - Ready status +*/
#define RM_DELAY MODULE_STATUS_BASE+1 /*+ - Delay status +*/
#define RM_WCET_VIOLATED MODULE_STATUS_BASE+2 /*+ when wcet is finished +*/
#define RM_WAIT MODULE_STATUS_BASE+3 /*+ to wait the deadline +*/
#define RM_IDLE MODULE_STATUS_BASE+4 /*+ to wait the deadline +*/
94,7 → 93,7
/*+ used to manage the JOB_TASK_MODEL and the
periodicity +*/
 
QUEUE ready; /*+ the ready queue +*/
IQUEUE ready; /*+ the ready queue +*/
 
int flags; /*+ the init flags... +*/
 
103,28 → 102,12
} RM_level_des;
 
 
static char *RM_status_to_a(WORD status)
{
if (status < MODULE_STATUS_BASE)
return status_to_a(status);
 
switch (status) {
case RM_READY : return "RM_Ready";
case RM_DELAY : return "RM_Delay";
case RM_WCET_VIOLATED: return "RM_Wcet_Violated";
case RM_WAIT : return "RM_Sporadic_Wait";
case RM_IDLE : return "RM_Idle";
case RM_ZOMBIE : return "RM_Zombie";
default : return "RM_Unknown";
}
}
 
static void RM_timer_deadline(void *par)
{
PID p = (PID) par;
RM_level_des *lev;
struct timespec *temp;
 
 
lev = (RM_level_des *)level_table[proc_table[p].task_level];
 
switch (proc_table[p].status) {
131,7 → 114,7
case RM_ZOMBIE:
/* we finally put the task in the ready queue */
proc_table[p].status = FREE;
q_insertfirst(p,&freedesc);
iq_insertfirst(p,&freedesc);
/* and free the allocated bandwidth */
lev->U -= (MAX_BANDWIDTH/lev->period[p]) * proc_table[p].wcet;
break;
140,12 → 123,11
/* tracer stuff */
trc_logevent(TRC_INTACTIVATION,&p);
/* similar to RM_task_activate */
TIMESPEC_ASSIGN(&proc_table[p].request_time,
&proc_table[p].timespec_priority);
ADDUSEC2TIMESPEC(lev->period[p], &proc_table[p].timespec_priority);
temp = iq_query_timespec(p, &lev->ready);
ADDUSEC2TIMESPEC(lev->period[p], temp);
proc_table[p].status = RM_READY;
q_insert(p,&lev->ready);
lev->deadline_timer[p] = kern_event_post(&proc_table[p].timespec_priority,
iq_priority_insert(p,&lev->ready);
lev->deadline_timer[p] = kern_event_post(temp,
RM_timer_deadline,
(void *)p);
//printk("(d%d idle priority set to %d)",p,proc_table[p].priority );
173,112 → 155,16
kern_raise(XDEADLINE_MISS,p);
}
 
/*+ this function is called when a task finish his delay +*/
static void RM_timer_delay(void *par)
{
PID p = (PID) par;
RM_level_des *lev;
 
lev = (RM_level_des *)level_table[proc_table[p].task_level];
 
proc_table[p].status = RM_READY;
q_insert(p,&lev->ready);
 
proc_table[p].delay_timer = NIL; /* Paranoia */
 
event_need_reschedule();
}
 
 
static int RM_level_accept_task_model(LEVEL l, TASK_MODEL *m)
{
if (m->pclass == HARD_PCLASS || m->pclass == (HARD_PCLASS | l)) {
HARD_TASK_MODEL *h = (HARD_TASK_MODEL *)m;
 
if (h->wcet && h->mit)
return 0;
}
 
return -1;
}
 
static int RM_level_accept_guest_model(LEVEL l, TASK_MODEL *m)
{
if (m->pclass == JOB_PCLASS || m->pclass == (JOB_PCLASS | l))
return 0;
else
return -1;
}
 
 
static char *onoff(int i)
{
if (i)
return "On ";
else
return "Off";
}
 
static void RM_level_status(LEVEL l)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
PID p = lev->ready;
 
kern_printf("Wcet Check : %s\n",
onoff(lev->flags & RM_ENABLE_WCET_CHECK));
kern_printf("On-line guarantee : %s\n",
onoff(lev->flags & RM_ENABLE_GUARANTEE));
kern_printf("Used Bandwidth : %u/%u\n",
lev->U, MAX_BANDWIDTH);
 
while (p != NIL) {
if ((proc_table[p].pclass) == JOB_PCLASS)
kern_printf("Pid: %2d (GUEST)\n", p);
else
kern_printf("Pid: %2d Name: %10s %s: %9ld Dline: %9ld.%6ld Stat: %s\n",
p,
proc_table[p].name,
lev->flag[p] & RM_FLAG_SPORADIC ? "MinITime" : "Period ",
lev->period[p],
proc_table[p].timespec_priority.tv_sec,
proc_table[p].timespec_priority.tv_nsec/1000,
RM_status_to_a(proc_table[p].status));
p = proc_table[p].next;
}
 
for (p=0; p<MAX_PROC; p++)
if (proc_table[p].task_level == l && proc_table[p].status != RM_READY
&& proc_table[p].status != FREE )
kern_printf("Pid: %2d Name: %10s %s: %9ld Dline: %9ld.%6ld Stat: %s\n",
p,
proc_table[p].name,
lev->flag[p] & RM_FLAG_SPORADIC ? "MinITime" : "Period ",
lev->period[p],
proc_table[p].timespec_priority.tv_sec,
proc_table[p].timespec_priority.tv_nsec/1000,
RM_status_to_a(proc_table[p].status));
}
 
/* The scheduler only gets the first task in the queue */
static PID RM_level_scheduler(LEVEL l)
static PID RM_public_scheduler(LEVEL l)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* { // print 4 dbg the ready queue
PID p= lev->ready;
kern_printf("(s");
while (p != NIL) {
kern_printf("%d ",p);
p = proc_table[p].next;
}
kern_printf(") ");
}
*/
return (PID)lev->ready;
return iq_query_first(&lev->ready);
}
 
/* The on-line guarantee is enabled only if the appropriate flag is set... */
static int RM_level_guarantee(LEVEL l, bandwidth_t *freebandwidth)
static int RM_public_guarantee(LEVEL l, bandwidth_t *freebandwidth)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
296,16 → 182,19
 
}
 
static int RM_task_create(LEVEL l, PID p, TASK_MODEL *m)
static int RM_public_create(LEVEL l, PID p, TASK_MODEL *m)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* if the RM_task_create is called, then the pclass must be a
valid pclass. */
HARD_TASK_MODEL *h;
 
HARD_TASK_MODEL *h = (HARD_TASK_MODEL *)m;
if (m->pclass != HARD_PCLASS) return -1;
if (m->level != 0 && m->level != l) return -1;
h = (HARD_TASK_MODEL *)m;
if (!h->wcet || !h->mit) return -1;
/* now we know that m is a valid model */
 
proc_table[p].priority = lev->period[p] = h->mit;
*iq_query_priority(p, &lev->ready) = lev->period[p] = h->mit;
 
if (h->periodicity == APERIODIC)
lev->flag[p] = RM_FLAG_SPORADIC;
347,7 → 236,7
return 0; /* OK, also if the task cannot be guaranteed... */
}
 
static void RM_task_detach(LEVEL l, PID p)
static void RM_public_detach(LEVEL l, PID p)
{
/* the RM level doesn't introduce any dinamic allocated new field.
we have only to reset the NO_GUARANTEE FIELD and decrement the allocated
361,21 → 250,8
lev->U -= (MAX_BANDWIDTH / lev->period[p]) * proc_table[p].wcet;
}
 
static int RM_task_eligible(LEVEL l, PID p)
static void RM_public_dispatch(LEVEL l, PID p, int nostop)
{
return 0; /* if the task p is chosen, it is always eligible */
}
 
#ifdef __TEST1__
extern int testactive;
extern struct timespec s_stime[];
extern TIME s_curr[];
extern TIME s_PID[];
extern int useds;
#endif
 
static void RM_task_dispatch(LEVEL l, PID p, int nostop)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
// kern_printf("(disp %d)",p);
383,20 → 259,10
/* 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!!! */
q_extract(p, &lev->ready);
 
#ifdef __TEST1__
if (testactive)
{
TIMESPEC_ASSIGN(&s_stime[useds], &schedule_time);
s_curr[useds] = proc_table[p].avail_time;
s_PID[useds] = p;
useds++;
}
#endif
iq_extract(p, &lev->ready);
}
 
static void RM_task_epilogue(LEVEL l, PID p)
static void RM_public_epilogue(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
410,14 → 276,15
}
else {
/* the task has been preempted. it returns into the ready queue... */
q_insert(p,&lev->ready);
iq_priority_insert(p,&lev->ready);
proc_table[p].status = RM_READY;
}
}
 
static void RM_task_activate(LEVEL l, PID p)
static void RM_public_activate(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
struct timespec *temp;
 
if (proc_table[p].status == RM_WAIT) {
kern_raise(XACTIVATION,p);
432,35 → 299,33
 
 
/* see also RM_timer_deadline */
ll_gettime(TIME_EXACT, &proc_table[p].request_time);
temp = iq_query_timespec(p, &lev->ready);
kern_gettime(temp);
ADDUSEC2TIMESPEC(lev->period[p], temp);
 
TIMESPEC_ASSIGN(&proc_table[p].timespec_priority,
&proc_table[p].request_time);
ADDUSEC2TIMESPEC(lev->period[p], &proc_table[p].timespec_priority);
 
/* Insert task in the correct position */
proc_table[p].status = RM_READY;
q_insert(p,&lev->ready);
iq_priority_insert(p,&lev->ready);
 
/* Set the deadline timer */
lev->deadline_timer[p] = kern_event_post(&proc_table[p].timespec_priority,
lev->deadline_timer[p] = kern_event_post(temp,
RM_timer_deadline,
(void *)p);
}
 
static void RM_task_insert(LEVEL l, PID p)
static void RM_public_unblock(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* Similar to RM_task_activate, but we don't check in what state
the task is and we don't set the request_time*/
/* Similar to RM_task_activate,
but we don't check in what state the task is */
 
/* Insert task in the correct position */
proc_table[p].status = RM_READY;
q_insert(p,&lev->ready);
iq_priority_insert(p,&lev->ready);
}
 
static void RM_task_extract(LEVEL l, PID p)
static void RM_public_block(LEVEL l, PID p)
{
/* Extract the running task from the level
. we have already extract it from the ready queue at the dispatch time.
473,7 → 338,7
*/
}
 
static void RM_task_endcycle(LEVEL l, PID p)
static int RM_public_message(LEVEL l, PID p, void *m)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
487,14 → 352,17
if (lev->flags & RM_ENABLE_WCET_CHECK)
proc_table[p].avail_time = proc_table[p].wcet;
 
jet_update_endcycle(); /* Update the Jet data... */
trc_logevent(TRC_ENDCYCLE,&exec_shadow); /* tracer stuff */
 
/* when the deadline timer fire, it recognize the situation and set
correctly all the stuffs (like reactivation, request_time, etc... ) */
correctly all the stuffs (like reactivation, sleep, etc... ) */
 
return 0;
}
 
static void RM_task_end(LEVEL l, PID p)
static void RM_public_end(LEVEL l, PID p)
{
// RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
proc_table[p].status = RM_ZOMBIE;
 
/* When the deadline timer fire, it put the task descriptor in
501,183 → 369,81
the free queue, and free the allocated bandwidth... */
}
 
static void RM_task_sleep(LEVEL l, PID p)
static void RM_private_insert(LEVEL l, PID p, TASK_MODEL *m)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
JOB_TASK_MODEL *job;
 
/* the task has terminated his job before it consume the wcet. All OK! */
proc_table[p].status = RM_WAIT;
if (m->pclass != JOB_PCLASS || (m->level != 0 && m->level != l) ) {
kern_raise(XINVALID_TASK, p);
return;
}
 
/* we reset the capacity counters... */
if (lev->flags & RM_ENABLE_WCET_CHECK)
proc_table[p].avail_time = proc_table[p].wcet;
job = (JOB_TASK_MODEL *)m;
 
/* when the deadline timer fire, it recognize the situation and set
correctly the task state to sleep... */
}
 
static void RM_task_delay(LEVEL l, PID p, TIME usdelay)
{
struct timespec wakeuptime;
// RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* equal to RM_task_endcycle */
proc_table[p].status = RM_DELAY;
 
/* we need to delete this event if we kill the task while it is sleeping */
ll_gettime(TIME_EXACT, &wakeuptime);
ADDUSEC2TIMESPEC(usdelay, &wakeuptime);
proc_table[p].delay_timer = kern_event_post(&wakeuptime,
RM_timer_delay,
(void *)p);
}
 
/* Guest Functions
These functions manages a JOB_TASK_MODEL, that is used to put
a guest task in the RM ready queue. */
 
static int RM_guest_create(LEVEL l, PID p, TASK_MODEL *m)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
JOB_TASK_MODEL *job = (JOB_TASK_MODEL *)m;
 
/* if the RM_guest_create is called, then the pclass must be a
valid pclass. */
 
*iq_query_timespec(p,&lev->ready) = job->deadline;
*iq_query_priority(p, &lev->ready) = lev->period[p] = job->period;
TIMESPEC_ASSIGN(&proc_table[p].timespec_priority, &job->deadline);
lev->deadline_timer[p] = -1;
 
/* Insert task in the correct position */
iq_priority_insert(p,&lev->ready);
proc_table[p].status = RM_READY;
 
if (job->noraiseexc)
lev->flag[p] = RM_FLAG_NORAISEEXC;
else
else {
lev->flag[p] = 0;
 
proc_table[p].priority = lev->period[p] = job->period;
 
/* there is no bandwidth guarantee at this level, it is performed
by the level that inserts guest tasks... */
 
return 0; /* OK, also if the task cannot be guaranteed... */
lev->deadline_timer[p] = kern_event_post(iq_query_timespec(p, &lev->ready),
RM_timer_guest_deadline,
(void *)p);
}
}
 
static void RM_guest_detach(LEVEL l, PID p)
static void RM_private_dispatch(LEVEL l, PID p, int nostop)
{
/* the RM level doesn't introduce any dinamic allocated new field.
No guarantee is performed on guest tasks... so we don't have to reset
the NO_GUARANTEE FIELD */
}
 
static void RM_guest_dispatch(LEVEL l, PID p, int nostop)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* the task state is set to 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!!! */
q_extract(p, &lev->ready);
iq_extract(p, &lev->ready);
}
 
static void RM_guest_epilogue(LEVEL l, PID p)
static void RM_private_epilogue(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* the task has been preempted. it returns into the ready queue... */
q_insert(p,&lev->ready);
iq_priority_insert(p,&lev->ready);
proc_table[p].status = RM_READY;
}
 
static void RM_guest_activate(LEVEL l, PID p)
static void RM_private_extract(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* Insert task in the correct position */
q_insert(p,&lev->ready);
proc_table[p].status = RM_READY;
 
/* Set the deadline timer */
if (!(lev->flag[p] & RM_FLAG_NORAISEEXC))
lev->deadline_timer[p] = kern_event_post(&proc_table[p].timespec_priority,
RM_timer_guest_deadline,
(void *)p);
 
}
 
static void RM_guest_insert(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* Insert task in the correct position */
q_insert(p,&lev->ready);
proc_table[p].status = RM_READY;
}
 
static void RM_guest_extract(LEVEL l, PID p)
{
/* Extract the running task from the level
. we have already extract it from the ready queue at the dispatch time.
. the state of the task is set by the calling function
. the deadline must remain...
 
So, we do nothing!!!
*/
}
 
static void RM_guest_endcycle(LEVEL l, PID p)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
 
static void RM_guest_end(LEVEL l, PID p)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
//kern_printf("RM_guest_end: dline timer %d\n",lev->deadline_timer[p]);
if (proc_table[p].status == RM_READY)
{
q_extract(p, &lev->ready);
iq_extract(p, &lev->ready);
//kern_printf("(g_end rdy extr)");
}
else if (proc_table[p].status == RM_DELAY) {
event_delete(proc_table[p].delay_timer);
proc_table[p].delay_timer = NIL; /* paranoia */
}
 
/* we remove the deadline timer, because the slice is finished */
if (lev->deadline_timer[p] != NIL) {
// kern_printf("RM_guest_end: dline timer %d\n",lev->deadline_timer[p]);
event_delete(lev->deadline_timer[p]);
kern_event_delete(lev->deadline_timer[p]);
lev->deadline_timer[p] = NIL;
}
 
}
 
static void RM_guest_sleep(LEVEL l, PID p)
{ kern_raise(XUNVALID_GUEST,exec_shadow); }
 
static void RM_guest_delay(LEVEL l, PID p, TIME usdelay)
{
struct timespec wakeuptime;
// RM_level_des *lev = (RM_level_des *)(level_table[l]);
 
/* equal to RM_task_endcycle */
proc_table[p].status = RM_DELAY;
 
/* we need to delete this event if we kill the task while it is sleeping */
ll_gettime(TIME_EXACT, &wakeuptime);
ADDUSEC2TIMESPEC(usdelay, &wakeuptime);
proc_table[p].delay_timer = kern_event_post(&wakeuptime,
RM_timer_delay,
(void *)p);
}
 
 
 
 
/* Registration functions */
 
/*+ Registration function:
int flags the init flags ... see rm.h +*/
void RM_register_level(int flags)
LEVEL RM_register_level(int flags)
{
LEVEL l; /* the level that we register */
RM_level_des *lev; /* for readableness only */
686,56 → 452,34
printk("RM_register_level\n");
 
/* request an entry in the level_table */
l = level_alloc_descriptor();
l = level_alloc_descriptor(sizeof(RM_level_des));
 
/* alloc the space needed for the RM_level_des */
lev = (RM_level_des *)kern_alloc(sizeof(RM_level_des));
lev = (RM_level_des *)level_table[l];
 
printk(" lev=%d\n",(int)lev);
 
/* update the level_table with the new entry */
level_table[l] = (level_des *)lev;
 
/* fill the standard descriptor */
strncpy(lev->l.level_name, RM_LEVELNAME, MAX_LEVELNAME);
lev->l.level_code = RM_LEVEL_CODE;
lev->l.level_version = RM_LEVEL_VERSION;
lev->l.private_insert = RM_private_insert;
lev->l.private_extract = RM_private_extract;
lev->l.private_dispatch = RM_private_dispatch;
lev->l.private_epilogue = RM_private_epilogue;
 
lev->l.level_accept_task_model = RM_level_accept_task_model;
lev->l.level_accept_guest_model = RM_level_accept_guest_model;
lev->l.level_status = RM_level_status;
lev->l.level_scheduler = RM_level_scheduler;
 
lev->l.public_scheduler = RM_public_scheduler;
if (flags & RM_ENABLE_GUARANTEE)
lev->l.level_guarantee = RM_level_guarantee;
lev->l.public_guarantee = RM_public_guarantee;
else
lev->l.level_guarantee = NULL;
lev->l.public_guarantee = NULL;
 
lev->l.task_create = RM_task_create;
lev->l.task_detach = RM_task_detach;
lev->l.task_eligible = RM_task_eligible;
lev->l.task_dispatch = RM_task_dispatch;
lev->l.task_epilogue = RM_task_epilogue;
lev->l.task_activate = RM_task_activate;
lev->l.task_insert = RM_task_insert;
lev->l.task_extract = RM_task_extract;
lev->l.task_endcycle = RM_task_endcycle;
lev->l.task_end = RM_task_end;
lev->l.task_sleep = RM_task_sleep;
lev->l.task_delay = RM_task_delay;
lev->l.public_create = RM_public_create;
lev->l.public_detach = RM_public_detach;
lev->l.public_end = RM_public_end;
lev->l.public_dispatch = RM_public_dispatch;
lev->l.public_epilogue = RM_public_epilogue;
lev->l.public_activate = RM_public_activate;
lev->l.public_unblock = RM_public_unblock;
lev->l.public_block = RM_public_block;
lev->l.public_message = RM_public_message;
 
lev->l.guest_create = RM_guest_create;
lev->l.guest_detach = RM_guest_detach;
lev->l.guest_dispatch = RM_guest_dispatch;
lev->l.guest_epilogue = RM_guest_epilogue;
lev->l.guest_activate = RM_guest_activate;
lev->l.guest_insert = RM_guest_insert;
lev->l.guest_extract = RM_guest_extract;
lev->l.guest_endcycle = RM_guest_endcycle;
lev->l.guest_end = RM_guest_end;
lev->l.guest_sleep = RM_guest_sleep;
lev->l.guest_delay = RM_guest_delay;
 
/* fill the RM descriptor part */
for(i=0; i<MAX_PROC; i++) {
lev->period[i] = 0;
743,18 → 487,17
lev->flag[i] = 0;
}
 
lev->ready = NIL;
iq_init(&lev->ready, &freedesc, 0);
lev->flags = flags & 0x07;
lev->U = 0;
 
return l;
}
 
bandwidth_t RM_usedbandwidth(LEVEL l)
{
RM_level_des *lev = (RM_level_des *)(level_table[l]);
if (lev->l.level_code == RM_LEVEL_CODE &&
lev->l.level_version == RM_LEVEL_VERSION)
return lev->U;
else
return 0;
 
return lev->U;
}