0,0 → 1,780 |
/* |
* Project: S.Ha.R.K. |
* |
* Coordinators: |
* Giorgio Buttazzo <giorgio@sssup.it> |
* Paolo Gai <pj@gandalf.sssup.it> |
* |
* Authors : |
* Paolo Gai <pj@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 |
*/ |
|
/** |
------------ |
CVS : $Id: rmstar.c,v 1.1 2003-09-17 09:13:50 giacomo Exp $ |
|
File: $File$ |
Revision: $Revision: 1.1 $ |
Last update: $Date: 2003-09-17 09:13:50 $ |
------------ |
**/ |
|
/* |
* Copyright (C) 2001 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 |
* |
*/ |
|
#include "rmstar.h" |
#include <ll/stdio.h> |
#include <ll/string.h> |
#include <kernel/model.h> |
#include <kernel/descr.h> |
#include <kernel/var.h> |
#include <kernel/func.h> |
#include <kernel/trace.h> |
|
|
#define RMSTAR_CHANGE_LEVEL 1 |
|
/* for iqueues */ |
/* #include "iqueue.h" Now iqueues are the only queue type into the kernel */ |
|
/* for BUDGET_TASK_MODEL */ |
#include "cbsstar.h" |
#include <comm_message.h> |
|
/* |
* DEBUG stuffs begin |
*/ |
|
//#define RMSTAR_DEBUG |
|
#ifdef RMSTAR_DEBUG |
|
static __inline__ fake_printf(char *fmt, ...) {} |
|
#define rmstar_printf fake_printf |
#define rmstar_printf2 fake_printf |
#define rmstar_printf3 fake_printf |
|
//#define rmstar_printf kern_printf |
//#define rmstar_printf2 kern_printf |
//#define rmstar_printf3 kern_printf |
#endif |
|
/* |
* DEBUG stuffs end |
*/ |
|
/* Status used in the level */ |
#define RMSTAR_READY MODULE_STATUS_BASE /* - Ready status */ |
#define RMSTAR_IDLE MODULE_STATUS_BASE+4 /* to wait the deadline */ |
|
/* flags */ |
#define RMSTAR_FLAG_NORAISEEXC 2 |
|
/* the level redefinition for the Earliest Deadline First level */ |
typedef struct { |
level_des l; /* the standard level descriptor */ |
|
TIME period[MAX_PROC]; /* The task periods; the deadlines are |
stored in the priority field */ |
int deadline_timer[MAX_PROC]; |
/* The task deadline timers */ |
|
struct timespec deadline_timespec[MAX_PROC]; |
|
int dline_miss[MAX_PROC]; /* Deadline miss counter */ |
int wcet_miss[MAX_PROC]; /* Wcet miss counter */ |
|
int nact[MAX_PROC]; /* Wcet miss counter */ |
|
int flag[MAX_PROC]; |
/* used to manage the JOB_TASK_MODEL and the |
periodicity */ |
|
IQUEUE ready; /* the ready queue */ |
|
PID activated; /* the task that has been inserted into the |
master module */ |
|
int budget[MAX_PROC]; |
|
int new_level[MAX_PROC]; |
int wcet[MAX_PROC]; /* save the wcet fields */ |
|
int scheduling_level; |
|
} RMSTAR_level_des; |
|
static void RMSTAR_check_preemption(RMSTAR_level_des *lev) |
{ |
PID first; |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:chk)"); |
#endif |
|
if ((first = iq_query_first(&lev->ready)) != lev->activated) { |
if (lev->activated != NIL) |
level_table[ lev->scheduling_level ]-> |
private_extract(lev->scheduling_level, lev->activated); |
|
lev->activated = first; |
|
if (first != NIL) { |
BUDGET_TASK_MODEL b; |
budget_task_default_model(b, lev->budget[first]); |
|
level_table[ lev->scheduling_level ]-> |
private_insert(lev->scheduling_level, first, (TASK_MODEL *)&b); |
} |
} |
} |
|
static void RMSTAR_timer_deadline(void *par); |
|
static void RMSTAR_internal_activate(RMSTAR_level_des *lev, PID p, |
struct timespec *t) |
{ |
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:iact)"); |
#endif |
|
ADDUSEC2TIMESPEC(lev->period[p], t); |
|
*iq_query_timespec(p, &lev->ready) = *t; |
lev->deadline_timespec[p] = *t; |
|
/* Insert task in the correct position */ |
proc_table[p].status = RMSTAR_READY; |
iq_priority_insert(p,&lev->ready); |
|
/* needed because when there is a wcet miss I disable CONTROL_CAP */ |
proc_table[p].control |= CONTROL_CAP; |
|
/* check for preemption */ |
RMSTAR_check_preemption(lev); |
} |
|
static void RMSTAR_timer_deadline(void *par) |
{ |
PID p = (PID) par; |
RMSTAR_level_des *lev; |
|
#ifdef RMSTAR_DEBUG |
// rmstar_printf("(E:tdl "); |
#endif |
|
lev = (RMSTAR_level_des *)level_table[proc_table[p].task_level]; |
|
switch (proc_table[p].status) { |
case RMSTAR_IDLE: |
#ifdef RMSTAR_DEBUG |
// rmstar_printf2("I%d",p); |
#endif |
/* set the request time */ |
RMSTAR_internal_activate(lev,p,iq_query_timespec(p, &lev->ready)); |
|
event_need_reschedule(); |
break; |
|
default: |
#ifdef RMSTAR_DEBUG |
// rmstar_printf2("D%d",p); |
#endif |
/* else, a deadline miss occurred!!! */ |
lev->dline_miss[p]++; |
|
/* the task is into another state */ |
lev->nact[p]++; |
|
/* Set the deadline timer */ |
ADDUSEC2TIMESPEC(lev->period[p], &lev->deadline_timespec[p]); |
} |
|
/* Set the deadline timer */ |
lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p], |
RMSTAR_timer_deadline, |
(void *)p); |
|
#ifdef RMSTAR_DEBUG |
// rmstar_printf(")"); |
#endif |
} |
|
static int RMSTAR_private_change_level(LEVEL l, PID p) |
{ |
|
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
/* Change task level */ |
if (lev->flag[p] & RMSTAR_CHANGE_LEVEL) { |
|
STD_command_message msg; |
|
proc_table[p].status = SLEEP; |
|
level_table[lev->scheduling_level]->private_extract(lev->scheduling_level,p); |
iq_extract(p,&lev->ready); |
|
if (lev->deadline_timer[p] != -1) |
kern_event_delete(lev->deadline_timer[p]); |
|
RMSTAR_check_preemption(lev); |
|
lev->nact[p] = 0; |
lev->budget[p] = -1; |
proc_table[p].task_level = lev->new_level[p]; |
|
/* Send change level command to local scheduler */ |
|
msg.command = STD_ACTIVATE_TASK; |
msg.param = NULL; |
|
level_table[ lev->new_level[p] ]->public_message(lev->new_level[p],p,&msg); |
|
return 1; |
|
} |
|
return 0; |
|
} |
static void RMSTAR_timer_guest_deadline(void *par) |
{ |
PID p = (PID) par; |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:gdl)"); |
#endif |
|
kern_raise(XDEADLINE_MISS,p); |
} |
|
static int RMSTAR_public_create(LEVEL l, PID p, TASK_MODEL *m) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
/* if the RMSTAR_task_create is called, then the pclass must be a |
valid pclass. */ |
HARD_TASK_MODEL *h; |
|
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 || h->periodicity != PERIODIC) return -1; |
/* now we know that m is a valid model */ |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:tcr)"); |
#endif |
|
lev->period[p] = h->mit; |
*iq_query_priority(p, &lev->ready) = h->mit; |
|
lev->flag[p] = 0; |
lev->deadline_timer[p] = -1; |
lev->dline_miss[p] = 0; |
lev->wcet_miss[p] = 0; |
lev->nact[p] = 0; |
|
/* Enable wcet check */ |
proc_table[p].avail_time = h->wcet; |
proc_table[p].wcet = h->wcet; |
proc_table[p].control |= CONTROL_CAP; |
|
return 0; /* OK, also if the task cannot be guaranteed... */ |
} |
|
static void RMSTAR_public_dispatch(LEVEL l, PID p, int nostop) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:dis)"); |
|
rmstar_printf3("(%d %d)", |
iq_query_timespec(p, &lev->ready)->tv_nsec/1000000, |
schedule_time.tv_nsec/1000000); |
#endif |
|
level_table[ lev->scheduling_level ]-> |
private_dispatch(lev->scheduling_level,p,nostop); |
} |
|
static void RMSTAR_public_epilogue(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:epi "); |
#endif |
|
if (RMSTAR_private_change_level(l, p)) return; |
|
/* check if the wcet is finished... */ |
if (proc_table[p].avail_time <= 0 && proc_table[p].control&CONTROL_CAP) { |
/* wcet finished: disable wcet event and count wcet miss */ |
#ifdef RMSTAR_DEBUG |
rmstar_printf2("W%d",p); |
#endif |
proc_table[p].control &= ~CONTROL_CAP; |
lev->wcet_miss[p]++; |
} |
#ifdef RMSTAR_DEBUG |
rmstar_printf(")"); |
#endif |
|
level_table[ lev->scheduling_level ]-> |
private_epilogue(lev->scheduling_level,p); |
|
proc_table[p].status = RMSTAR_READY; |
} |
|
static void RMSTAR_public_activate(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
struct timespec t; |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:act)"); |
#endif |
|
/* Test if we are trying to activate a non sleeping task */ |
/* save activation (only if needed... */ |
if (proc_table[p].status != SLEEP) { |
/* a periodic task cannot be activated when it is already active */ |
kern_raise(XACTIVATION,p); |
return; |
} |
|
kern_gettime(&t); |
|
RMSTAR_internal_activate(lev,p, &t); |
|
/* Set the deadline timer */ |
lev->deadline_timer[p] = kern_event_post(&lev->deadline_timespec[p], |
RMSTAR_timer_deadline, |
(void *)p); |
|
} |
|
static void RMSTAR_public_unblock(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:ins)"); |
#endif |
|
/* Insert task in the correct position */ |
proc_table[p].status = RMSTAR_READY; |
iq_priority_insert(p,&lev->ready); |
|
/* and check for preemption! */ |
RMSTAR_check_preemption(lev); |
} |
|
static void RMSTAR_public_block(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:ext)"); |
#endif |
|
/* the task is blocked on a synchronization primitive. we have to |
remove it from the master module -and- from the local queue! */ |
iq_extract(p,&lev->ready); |
|
/* and finally, a preemption check! (it will also call guest_end) */ |
RMSTAR_check_preemption(lev); |
} |
|
static int RMSTAR_public_message(LEVEL l, PID p, void *m) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
struct timespec temp; |
STD_command_message *msg; |
HARD_TASK_MODEL *h; |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:ecy "); |
#endif |
|
switch ((long)(m)) |
{ |
|
/* Task EndCycle */ |
case (long)(NULL): |
|
if (RMSTAR_private_change_level(l,p)) return 0; |
/* we call guest_end directly here because the same task may |
be reinserted in the queue before calling the preemption check! */ |
level_table[ lev->scheduling_level ]-> |
private_extract(lev->scheduling_level,p); lev->activated = NIL; |
|
iq_extract(p,&lev->ready); |
|
/* we reset the capacity counters... */ |
proc_table[p].avail_time = proc_table[p].wcet; |
|
if (lev->nact[p] > 0) { |
#ifdef RMSTAR_DEBUG |
rmstar_printf2("E%d",p); |
#endif |
|
/* Pending activation: reactivate the thread!!! */ |
lev->nact[p]--; |
|
/* see also RMSTAR_timer_deadline */ |
kern_gettime(&temp); |
|
RMSTAR_internal_activate(lev,p,&temp); |
|
/* check if the deadline has already expired */ |
temp = *iq_query_timespec(p, &lev->ready); |
if (TIMESPEC_A_LT_B(&temp, &schedule_time)) { |
/* count the deadline miss */ |
lev->dline_miss[p]++; |
kern_event_delete(lev->deadline_timer[p]); |
} |
|
} |
else { |
#ifdef RMSTAR_DEBUG |
rmstar_printf("e%d",p); |
#endif |
|
/* the task has terminated his job before it consume the wcet. All OK! */ |
proc_table[p].status = RMSTAR_IDLE; |
|
/* and finally, a preemption check! */ |
RMSTAR_check_preemption(lev); |
|
/* when the deadline timer fire, it recognize the situation and set |
correctly all the stuffs (like reactivation, etc... ) */ |
} |
#ifdef RMSTAR_DEBUG |
rmstar_printf(")"); |
#endif |
|
jet_update_endcycle(); /* Update the Jet data... */ |
trc_logevent(TRC_ENDCYCLE,&exec_shadow); /* tracer stuff */ |
break; |
default: |
|
msg = (STD_command_message *)m; |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:MSG %d)",msg->command); |
#endif |
|
switch(msg->command) { |
case STD_SET_NEW_MODEL: |
/* if the RMSTAR_task_create is called, then the pclass must be a |
valid pclass. */ |
h=(HARD_TASK_MODEL *)(msg->param); |
|
/* now we know that m is a valid model */ |
lev->wcet[p] = h->wcet; |
lev->period[p] = h->mit; |
|
lev->flag[p] = 0; |
lev->deadline_timer[p] = -1; |
lev->dline_miss[p] = 0; |
lev->wcet_miss[p] = 0; |
lev->nact[p] = 0; |
|
break; |
|
case STD_SET_NEW_LEVEL: |
|
lev->flag[p] |= RMSTAR_CHANGE_LEVEL; |
lev->new_level[p] = (int)(msg->param); |
|
break; |
|
case STD_ACTIVATE_TASK: |
|
/* Enable wcet check */ |
proc_table[p].avail_time = lev->wcet[p]; |
proc_table[p].wcet = lev->wcet[p]; |
proc_table[p].control |= CONTROL_CAP; |
|
RMSTAR_public_activate(l, p); |
|
break; |
} |
|
} |
return 0; |
} |
|
static void RMSTAR_public_end(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
#ifdef RMSTAR_DEBUG |
rmstar_printf("(E:end)"); |
#endif |
|
iq_extract(p,&lev->ready); |
|
/* we finally put the task in the ready queue */ |
proc_table[p].status = FREE; |
|
iq_insertfirst(p,&freedesc); |
|
if (lev->deadline_timer[p] != -1) { |
kern_event_delete(lev->deadline_timer[p]); |
} |
|
/* and finally, a preemption check! (it will also call guest_end) */ |
RMSTAR_check_preemption(lev); |
} |
|
|
/* Guest Functions |
These functions manages a JOB_TASK_MODEL, that is used to put |
a guest task in the RMSTAR ready queue. */ |
|
static void RMSTAR_private_insert(LEVEL l, PID p, TASK_MODEL *m) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
JOB_TASK_MODEL *job; |
|
if (m->pclass != JOB_PCLASS || (m->level != 0 && m->level != l) ) { |
kern_raise(XINVALID_TASK, p); |
return; |
} |
|
job = (JOB_TASK_MODEL *)m; |
|
*iq_query_timespec(p, &lev->ready) = job->deadline; |
|
lev->deadline_timer[p] = -1; |
lev->dline_miss[p] = 0; |
lev->wcet_miss[p] = 0; |
lev->nact[p] = 0; |
|
if (job->noraiseexc) |
lev->flag[p] = RMSTAR_FLAG_NORAISEEXC; |
else { |
lev->flag[p] = 0; |
lev->deadline_timer[p] = kern_event_post(iq_query_timespec(p, &lev->ready), |
RMSTAR_timer_guest_deadline, |
(void *)p); |
} |
|
lev->period[p] = job->period; |
*iq_query_priority(p, &lev->ready) = job->period; |
|
/* there is no bandwidth guarantee at this level, it is performed |
by the level that inserts guest tasks... */ |
|
/* Insert task in the correct position */ |
iq_priority_insert(p,&lev->ready); |
proc_table[p].status = RMSTAR_READY; |
|
/* check for preemption */ |
RMSTAR_check_preemption(lev); |
} |
|
|
static void RMSTAR_private_dispatch(LEVEL l, PID p, int nostop) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
level_table[ lev->scheduling_level ]-> |
private_dispatch(lev->scheduling_level,p,nostop); |
} |
|
static void RMSTAR_private_epilogue(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
/* the task has been preempted. it returns into the ready queue... */ |
level_table[ lev->scheduling_level ]-> |
private_epilogue(lev->scheduling_level,p); |
|
proc_table[p].status = RMSTAR_READY; |
} |
|
static void RMSTAR_private_extract(LEVEL l, PID p) |
{ |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
#ifdef RMSTAR_DEBUG |
//kern_printf("RMSTAR_guest_end: dline timer %d\n",lev->deadline_timer[p]); |
#endif |
|
iq_extract(p, &lev->ready); |
|
/* we remove the deadline timer, because the slice is finished */ |
if (lev->deadline_timer[p] != NIL) { |
#ifdef RMSTAR_DEBUG |
// kern_printf("RMSTAR_guest_end: dline timer %d\n",lev->deadline_timer[p]); |
#endif |
kern_event_delete(lev->deadline_timer[p]); |
lev->deadline_timer[p] = NIL; |
} |
|
/* and finally, a preemption check! (it will also call guest_end() */ |
RMSTAR_check_preemption(lev); |
} |
|
/* Registration functions */ |
|
/* Registration function: |
int flags the init flags ... see RMSTAR.h */ |
LEVEL RMSTAR_register_level(int master) |
{ |
LEVEL l; /* the level that we register */ |
RMSTAR_level_des *lev; /* for readableness only */ |
PID i; /* a counter */ |
|
#ifdef RMSTAR_DEBUG |
printk("RMSTAR_register_level\n"); |
#endif |
|
/* request an entry in the level_table */ |
l = level_alloc_descriptor(sizeof(RMSTAR_level_des)); |
|
lev = (RMSTAR_level_des *)level_table[l]; |
|
printk(" lev=%d\n",(int)lev); |
|
/* fill the standard descriptor */ |
lev->l.private_insert = RMSTAR_private_insert; |
lev->l.private_extract = RMSTAR_private_extract; |
lev->l.private_dispatch = RMSTAR_private_dispatch; |
lev->l.private_epilogue = RMSTAR_private_epilogue; |
|
lev->l.public_guarantee = NULL; |
lev->l.public_create = RMSTAR_public_create; |
lev->l.public_end = RMSTAR_public_end; |
lev->l.public_dispatch = RMSTAR_public_dispatch; |
lev->l.public_epilogue = RMSTAR_public_epilogue; |
lev->l.public_activate = RMSTAR_public_activate; |
lev->l.public_unblock = RMSTAR_public_unblock; |
lev->l.public_block = RMSTAR_public_block; |
lev->l.public_message = RMSTAR_public_message; |
|
/* fill the RMSTAR descriptor part */ |
for(i=0; i<MAX_PROC; i++) { |
lev->period[i] = 0; |
lev->deadline_timer[i] = -1; |
lev->flag[i] = 0; |
lev->dline_miss[i] = 0; |
lev->wcet_miss[i] = 0; |
lev->nact[i] = 0; |
lev->budget[i] = NIL; |
lev->wcet[i] = 0; |
} |
|
iq_init(&lev->ready, NULL, 0); |
lev->activated = NIL; |
|
lev->scheduling_level = master; |
|
return l; |
} |
|
int RMSTAR_get_dline_miss(PID p) |
{ |
LEVEL l = proc_table[p].task_level; |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
return lev->dline_miss[p]; |
} |
|
int RMSTAR_get_wcet_miss(PID p) |
{ |
LEVEL l = proc_table[p].task_level; |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
return lev->wcet_miss[p]; |
} |
|
int RMSTAR_get_nact(PID p) |
{ |
LEVEL l = proc_table[p].task_level; |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
return lev->nact[p]; |
} |
|
int RMSTAR_reset_dline_miss(PID p) |
{ |
LEVEL l = proc_table[p].task_level; |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
lev->dline_miss[p] = 0; |
return 0; |
} |
|
int RMSTAR_reset_wcet_miss(PID p) |
{ |
LEVEL l = proc_table[p].task_level; |
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
lev->wcet_miss[p] = 0; |
return 0; |
} |
|
|
int RMSTAR_setbudget(LEVEL l, PID p, int budget) |
{ |
|
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
lev->budget[p] = budget; |
|
return 0; |
|
} |
|
int RMSTAR_getbudget(LEVEL l, PID p) |
{ |
|
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
|
return lev->budget[p]; |
|
} |
|
int RMSTAR_budget_has_thread(LEVEL l, int budget) |
{ |
|
RMSTAR_level_des *lev = (RMSTAR_level_des *)(level_table[l]); |
int i; |
|
for(i = 0; i< MAX_PROC; i++) |
if (lev->budget[i] == budget) return 1; |
|
return 0; |
|
} |