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/*
* 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 1.5 2003-12-17 13:52:46 giacomo Exp $
File: $File$
Revision: $Revision: 1.5 $
Last update: $Date: 2003-12-17 13:52:46 $
------------
**/
/*
* 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>
/* for iqueues */
/* #include "iqueue.h" Now iqueues are the only queue type into the kernel */
/* for BUDGET_TASK_MODEL */
#include "cbsstar.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;
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);
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 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
/* 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;
#ifdef RMSTAR_DEBUG
rmstar_printf("(E:ecy ");
#endif
/* 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... */
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 budget, 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;
}
iq_init(&lev->ready, NULL, 0);
lev->activated = NIL;
lev->budget = budget;
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;
}