1 // -----------------------------------------------------------------------
2 // Copyright (C) 2006 - 2007 FRESCOR consortium partners:
4 // Universidad de Cantabria, SPAIN
5 // University of York, UK
6 // Scuola Superiore Sant'Anna, ITALY
7 // Kaiserslautern University, GERMANY
8 // Univ. Politecnica Valencia, SPAIN
9 // Czech Technical University in Prague, CZECH REPUBLIC
11 // Thales Communication S.A. FRANCE
12 // Visual Tools S.A. SPAIN
13 // Rapita Systems Ltd UK
16 // See http://www.frescor.org for a link to partners' websites
18 // FRESCOR project (FP6/2005/IST/5-034026) is funded
19 // in part by the European Union Sixth Framework Programme
20 // The European Union is not liable of any use that may be
23 // This file is part of the FRSH implementation
25 // FRSH is free software; you can redistribute it and/or modify
26 // it under the terms of the GNU General Public License as published by
27 // the Free Software Foundation; either version 2, or (at your option)
30 // FRSH is distributed in the hope that it will be useful, but
31 // WITHOUT ANY WARRANTY; without even the implied warranty of
32 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
33 // General Public License for more details.
35 // You should have received a copy of the GNU General Public License
36 // distributed with FRSH; see file COPYING. If not, write to the
37 // Free Software Foundation, 59 Temple Place - Suite 330, Boston, MA
40 // As a special exception, if you include this header file into source
41 // files to be compiled, this header file does not by itself cause
42 // the resulting executable to be covered by the GNU General Public
43 // License. This exception does not however invalidate any other
44 // reasons why the executable file might be covered by the GNU General
46 // -----------------------------------------------------------------------
47 //==============================================
48 // ******** ****** ******** **********
49 // **///// /** ** **////// /** /**
50 // ** /** ** /** /** /**
51 // ******* /** ** /********* /**********
52 // **//// /** ** ////////** /**//////**
53 // ** /** ** /** /** /**
54 // ** /** ** ******** /** /**
55 // // /******/ //////// // //
57 // FOSA(Frescor Operating System Adaptation layer)
58 //================================================
60 #include <fosa_configuration_parameters.h>
61 #include <fosa_app_def_sched.h>
62 #include <fosa_threads_and_signals.h>
63 #include <fosa_time.h>
71 #define REACHS(str) printf ("%s: %s: %d: %s\n", __FILE__, __FUNCTION__, __LINE__, str)
73 static pthread_t fosa_scheduler_th; // Scheduler thread
74 static fosa_ads_scheduler_ops_t fosa_scheduler_ops; // Scheduler operations
75 static void * fosa_scheduler_data; // Scheduler parameters
76 static size_t fosa_scheduler_data_size;
77 static void * fosa_init_args; // Scheduler initialisation args
78 static size_t fosa_init_args_size;
79 static sigset_t fosa_handled_signals; // Signals handled by the scheduler
81 // Reply info for 'fosa_ads_invoke_withdata ()'
86 static int fosa_reply_key;
88 void clear_actions (fosa_ads_actions_t *act)
90 posix_appsched_actions_destroy (&(act -> actions));
91 posix_appsched_actions_init (&(act -> actions));
92 act -> activated = false;
93 act -> suspended = false;
94 act -> rejected = false;
95 act -> timeout_ptr = NULL;
98 void *fosa_scheduler_main (void * args)
100 fosa_ads_actions_t actions;
101 struct posix_appsched_event event;
102 struct timespec current_time;
103 posix_appsched_eventset_t accepted_events;
105 // accept events which have a callback associated
106 posix_appsched_fillset (&accepted_events);
107 if (fosa_scheduler_ops.new_thread)
108 posix_appsched_delset (&accepted_events,POSIX_APPSCHED_NEW);
110 if (fosa_scheduler_ops.thread_terminate)
111 posix_appsched_delset (&accepted_events,POSIX_APPSCHED_TERMINATE);
113 if (fosa_scheduler_ops.thread_ready)
114 posix_appsched_delset (&accepted_events,POSIX_APPSCHED_READY);
116 if (fosa_scheduler_ops.thread_block)
117 posix_appsched_delset (&accepted_events,POSIX_APPSCHED_BLOCK);
119 if (fosa_scheduler_ops.change_sched_param_thread)
120 posix_appsched_delset (&accepted_events, POSIX_APPSCHED_CHANGE_SCHED_PARAM);
122 if (fosa_scheduler_ops.explicit_call_with_data)
123 posix_appsched_delset (&accepted_events, POSIX_APPSCHED_EXPLICIT_CALL_WITH_DATA);
125 // if (fosa_scheduler_ops.notification_for_thread)
126 // posix_appsched_delset (&accepted_events,POSIX_APPSCHED_TASK_NOTIFICATION);
128 if (fosa_scheduler_ops.timeout)
129 posix_appsched_delset (&accepted_events,POSIX_APPSCHED_TIMEOUT);
131 if (fosa_scheduler_ops.signal)
132 posix_appsched_delset (&accepted_events,POSIX_APPSCHED_SIGNAL);
134 // if (fosa_scheduler_ops.signal)
135 // posix_appsched_delset (&accepted_events,POSIX_APPSCHED_ERRROR);
137 posix_appschedattr_seteventmask(&accepted_events);
139 // Set the clock (and its) flags used by the scheduler
140 posix_appschedattr_setclock (FOSA_CLOCK_REALTIME);
141 posix_appschedattr_setflags (POSIX_APPSCHED_ABSTIMEOUT);
144 fosa_scheduler_ops.init (fosa_scheduler_data, fosa_init_args);
145 clear_actions (&actions);
147 while (1) { // scheduler loop
148 if (posix_appsched_execute_actions(&(actions.actions), &fosa_handled_signals, actions.timeout_ptr,
149 ¤t_time, &event))
151 fosa_scheduler_ops.appsched_error
152 (fosa_scheduler_data, 0x0, FOSA_ADS_THREAD_NOT_ATTACHED, &actions);
156 clear_actions (&actions);
157 switch (event.event_code) {
158 case POSIX_APPSCHED_NEW:
159 fosa_scheduler_ops.new_thread
160 (fosa_scheduler_data,
165 if (!actions.rejected) {
167 clear_actions (&actions);
169 // alloc memory for reply info of 'fosa_ads_invoke_with_data ()'
170 struct reply_info *reply_mem = malloc (sizeof (struct reply_info));
172 posix_appsched_actions_addreject (&actions.actions, event.thread);
174 posix_appsched_actions_addaccept (&actions.actions, event.thread);
175 pthread_setspecific_for (fosa_reply_key, event.thread, reply_mem);
179 case POSIX_APPSCHED_TERMINATE:
180 fosa_scheduler_ops.thread_terminate
181 (fosa_scheduler_data,
186 case POSIX_APPSCHED_READY:
187 fosa_scheduler_ops.thread_ready
188 (fosa_scheduler_data,
193 case POSIX_APPSCHED_BLOCK:
194 fosa_scheduler_ops.thread_block
195 (fosa_scheduler_data,
200 case POSIX_APPSCHED_CHANGE_SCHED_PARAM:
201 fosa_scheduler_ops.change_sched_param_thread
202 (fosa_scheduler_data,
207 case POSIX_APPSCHED_EXPLICIT_CALL_WITH_DATA:
209 struct reply_info *fosa_reply;
211 // Get reply memory pointer
212 pthread_getspecific_from (fosa_reply_key, event.thread, (void **) &fosa_reply);
213 fosa_scheduler_ops.explicit_call_with_data
214 (fosa_scheduler_data,
216 event.event_info.info,
219 fosa_reply -> size_ptr,
223 // activate the thread unless suspended or already activated
224 if (!actions.suspended && !actions.activated) {
225 posix_appsched_actions_addactivate
226 (&actions.actions, event.thread);
230 case POSIX_APPSCHED_TIMEOUT:
231 fosa_scheduler_ops.timeout
232 (fosa_scheduler_data,
236 case POSIX_APPSCHED_SIGNAL:
237 fosa_scheduler_ops.signal
238 (fosa_scheduler_data,
239 event.event_info.siginfo.si_signo,
240 (fosa_signal_info_t)event.event_info.siginfo.si_value.sival_ptr,
246 case POSIX_APPSCHED_THREAD_NOTIFICATION:
247 fosa_scheduler_ops.notification_for_thread
248 (fosa_scheduler_data,
249 event.thread,(fosa_clock_id_t) event.event_info.info,
254 case POSIX_APPSCHED_ERROR: // Implemented using the usual error handling mechanism
255 fosa_scheduler_ops.appsched_error
256 (fosa_scheduler_data,
267 /********************************
268 * Application-defined scheduling
269 ********************************/
270 int fosa_ads_scheduler_create
271 (const fosa_ads_scheduler_ops_t * scheduler_ops,
272 size_t scheduler_data_size,
274 size_t init_args_size)
277 struct sched_param sp;
281 fosa_scheduler_ops = *scheduler_ops;
283 // Alloc memory for init args and scheduler data
284 fosa_init_args_size = init_args_size;
285 fosa_init_args = malloc (init_args_size);
289 memcpy (fosa_init_args, init_args, init_args_size);
291 fosa_scheduler_data_size = scheduler_data_size;
292 fosa_scheduler_data = malloc (scheduler_data_size);
293 if (!fosa_scheduler_data) {
297 memset (fosa_scheduler_data, 0, scheduler_data_size);
299 // Key for reply information index of 'fosa_reply' for each thread
300 pthread_key_create (&fosa_reply_key, NULL);
302 // Set scheduler thread parameters
303 pthread_attr_init (&attr);
304 sp.sched_priority = sched_get_priority_max (SCHED_FIFO) + FOSA_ADS_SCHEDULER_PRIO_DIFF;
305 pthread_attr_setschedparam (&attr, &sp);
306 pthread_attr_setschedpolicy (&attr, SCHED_FIFO);
307 pthread_attr_setappschedulerstate (&attr, PTHREAD_APPSCHEDULER);
308 pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
309 pthread_attr_setinheritsched(&attr,PTHREAD_EXPLICIT_SCHED);
311 if (pthread_create (&fosa_scheduler_th, &attr, fosa_scheduler_main, NULL))
317 int fosa_thread_attr_set_appscheduled
318 (fosa_thread_attr_t *attr,
323 err = pthread_attr_setappscheduler (attr, fosa_scheduler_th);
328 return pthread_attr_setschedpolicy (attr, SCHED_APP);
330 return pthread_attr_setschedpolicy (attr, SCHED_FIFO);
334 int fosa_thread_attr_get_appscheduled
335 (const fosa_thread_attr_t *attr,
340 err = pthread_attr_getschedpolicy (attr, &policy);
344 *appscheduled = (policy == SCHED_APP);
349 int fosa_thread_attr_set_appsched_params
350 (fosa_thread_attr_t *attr,
354 #if FOSA_ADS_SCHEDPARAM_MAX > POSIX_APPSCHEDPARAM_MAX
355 #error FOSA_ADS_SCHEDPARAM_MAX > POSIX_APPSCHEDPARAM_MAX
357 if (paramsize > FOSA_ADS_SCHEDPARAM_MAX)
360 return pthread_attr_setappschedparam (attr, param, paramsize);
364 int fosa_thread_attr_get_appsched_params
365 (const fosa_thread_attr_t *attr,
369 return pthread_attr_getappschedparam (attr, param, paramsize);
373 int fosa_ads_set_appscheduled
374 (fosa_thread_id_t thread,
377 struct sched_param sp;
378 int policy_old, policy_new, err;
380 err = pthread_getschedparam (thread, &policy_old, &sp);
385 err = pthread_setappscheduler (thread, fosa_scheduler_th);
389 policy_new = SCHED_APP;
391 policy_new = SCHED_FIFO;
394 if (policy_new != policy_old)
395 return pthread_setschedparam (thread, policy_new, &sp);
401 int fosa_ads_get_appscheduled
402 (fosa_thread_id_t thread,
405 struct sched_param sp;
408 err = pthread_getschedparam (thread, &policy, &sp);
412 *appscheduled = (policy == SCHED_APP);
417 int fosa_ads_set_appsched_params
418 (fosa_thread_id_t thread,
422 return pthread_setappschedparam (thread, param, paramsize);
426 int fosa_ads_get_appsched_params
427 (fosa_thread_id_t thread,
431 return pthread_getappschedparam (thread, param, paramsize);
436 /*********************************
438 *********************************/
439 int fosa_adsactions_add_reject
440 (fosa_ads_actions_t *sched_actions,
441 fosa_thread_id_t thread)
443 sched_actions -> rejected = true;
444 return posix_appsched_actions_addreject (&(sched_actions -> actions), thread);
447 extern inline int fosa2prtk (int prio, int urg);
448 int fosa_adsactions_add_activate
449 (fosa_ads_actions_t *sched_actions,
450 fosa_thread_id_t thread,
451 fosa_ads_urgency_t urgency)
453 sched_actions -> activated = true;
455 #ifdef CONFIG_URGENCY
456 #error "Urgency not supported. Disable this feature in the Makefile"
457 int fosaprio, policy;
458 struct sched_param sp;
460 pthread_getschedparam (thread, &policy, &sp);
461 fosa_thread_get_prio (thread, &fosaprio);
462 sp.sched_priority = fosa2prtk (fosaprio, urgency);
463 // printf ("policy=%d, prio=%d, urg=%d, new_prio=%d\n", policy);
464 pthread_setschedparam (thread, policy, &sp);
466 return posix_appsched_actions_addactivate (&(sched_actions -> actions), thread);
469 int fosa_adsactions_add_suspend
470 (fosa_ads_actions_t *sched_actions,
471 fosa_thread_id_t thread)
473 sched_actions -> suspended = true;
474 return posix_appsched_actions_addsuspend (&(sched_actions -> actions), thread);
477 int fosa_adsactions_add_timeout
478 (fosa_ads_actions_t *sched_actions,
479 fosa_clock_id_t clock_id,
480 const fosa_abs_time_t *at_time)
482 sched_actions -> timeout = fosa_abs_time_to_timespec (*at_time);
483 sched_actions -> timeout_ptr = &(sched_actions -> timeout);
487 int fosa_adsactions_add_thread_notification
488 (fosa_ads_actions_t *sched_actions,
489 fosa_thread_id_t thread,
490 fosa_clock_id_t clock_id,
491 const fosa_abs_time_t *at_time)
493 printf ("BUG: fosa_adsactions_add_thread_notification: Not implemented\n");
499 int fosa_ads_set_handled_signal_set (fosa_signal_t set[], int size)
503 if (!pthread_equal (pthread_self (), fosa_scheduler_th))
506 sigemptyset (&fosa_handled_signals);
507 for (i = 0; i < size; i++) {
508 if (FOSA_SIGNAL_MIN > set [i] || set [i] > FOSA_SIGNAL_MAX)
510 sigaddset (&fosa_handled_signals, set[i]);
512 return fosa_set_accepted_signals (set, size);
516 int fosa_signal_queue_scheduler (fosa_signal_t signal, fosa_signal_info_t info)
518 return fosa_signal_queue (signal, info, 0);
522 int fosa_ads_invoke_withdata
523 (const void *msg, size_t msg_size, void *reply, size_t *reply_size)
525 struct reply_info *fosa_reply;
527 #if FOSA_ADS_SCHEDINFO_MAX > POSIX_APPSCHEDINFO_MAX
528 #error FOSA_ADS_SCHEDINFO_MAX > POSIX_APPSCHEDINFO_MAX
531 if (msg_size > FOSA_ADS_SCHEDINFO_MAX)
534 fosa_reply = (struct reply_info *) pthread_getspecific (fosa_reply_key);
535 fosa_reply -> msg = reply;
536 fosa_reply -> size_ptr = reply_size;
538 return posix_appsched_invoke_withdata (msg, msg_size, NULL, NULL);