src_rtlinux/fosa_app_def_sched.c

   1 // -----------------------------------------------------------------------
   2 //  Copyright (C) 2006 - 2009 FRESCOR consortium partners:
   3 //
   4 //    Universidad de Cantabria,              SPAIN
   5 //    University of York,                    UK
   6 //    Scuola Superiore Sant'Anna,            ITALY
   7 //    Kaiserslautern University,             GERMANY
   8 //    Univ. Politécnica  Valencia,           SPAIN
   9 //    Czech Technical University in Prague,  CZECH REPUBLIC
  10 //    ENEA                                   SWEDEN
  11 //    Thales Communication S.A.              FRANCE
  12 //    Visual Tools S.A.                      SPAIN
  13 //    Rapita Systems Ltd                     UK
  14 //    Evidence                               ITALY
  15 //
  16 //    See http://www.frescor.org for a link to partners' websites
  17 //
  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
  21 //        made of this code.
  22 //
  23 //
  24 //  based on previous work (FSF) done in the FIRST project
  25 //
  26 //   Copyright (C) 2005  Mälardalen University, SWEDEN
  27 //                       Scuola Superiore S.Anna, ITALY
  28 //                       Universidad de Cantabria, SPAIN
  29 //                       University of York, UK
  30 //
  31 //   FSF API web pages: http://marte.unican.es/fsf/docs
  32 //                      http://shark.sssup.it/contrib/first/docs/
  33 //
  34 //   This file is part of FOSA (Frsh Operating System Adaption)
  35 //
  36 //  FOSA is free software; you can redistribute it and/or modify it
  37 //  under terms of the GNU General Public License as published by the
  38 //  Free Software Foundation; either version 2, or (at your option) any
  39 //  later version.  FOSA is distributed in the hope that it will be
  40 //  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
  41 //  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
  42 //  General Public License for more details. You should have received a
  43 //  copy of the GNU General Public License along with FOSA; see file
  44 //  COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,
  45 //  Cambridge, MA 02139, USA.
  46 //
  47 //  As a special exception, including FOSA header files in a file,
  48 //  instantiating FOSA generics or templates, or linking other files
  49 //  with FOSA objects to produce an executable application, does not
  50 //  by itself cause the resulting executable application to be covered
  51 //  by the GNU General Public License. This exception does not
  52 //  however invalidate any other reasons why the executable file might be
  53 //  covered by the GNU Public License.
  54 // -----------------------------------------------------------------------
  55 //fosa_app_def_sched.c
  56 //==============================================
  57 //  ********  ******    ********  **********
  58 //  **///// /**    **  **//////  /**     /**
  59 //  **      /**    ** /**        /**     /**
  60 //  ******* /**    ** /********* /**********
  61 //  **////  /**    ** ////////** /**//////**
  62 //  **      /**    **        /** /**     /**
  63 //  **      /**    **  ********  /**     /**
  64 //  //       /******/  ////////   //      //
  65 //
  66 // FOSA(Frescor Operating System Adaptation layer)
  67 //================================================
  68
  69 #include <fosa.h>
  70 #include <rtl.h>
  71 //#include <rtl_sched.h>
  72 #include <rtl_malloc.h>
  73
  74 /********************************
  75  * Application-defined scheduling
  76  ********************************/
  77
  78
  79 extern fosa_ads_scheduler_ops_t fosa_scheduler_operations; // See rtl_appsched.c
  80 extern void *fosa_scheduler_loop(void *arg);     // See rtl_appsched.c
  81 extern void *fosa_scheduler_args;
  82 extern int   fosa_scheduler_args_size;
  83
  84
  85 int fosa_ads_scheduler_create (const fosa_ads_scheduler_ops_t * scheduler_ops,
  86                                size_t scheduler_data_size,
  87                                void * init_args,
  88                                size_t init_args_size){
  89     struct sched_param sched_param;
  90     pthread_attr_t  attr;
  91     int ret;
  92
  93     // There will be only ONE single ADS scheduler facility in the system
  94     fosa_scheduler_args_size=init_args_size;
  95     fosa_scheduler_args=rtl_malloc(init_args_size);
  96     if (!fosa_scheduler_args) {
  97         rtl_printf("ERROR: fosa_ads_scheduler_create, rtl_mallox failed\n");
  98         return -1;
  99     }
 100     memcpy((unsigned char *)fosa_scheduler_args,
 101            (unsigned char *)init_args, init_args_size);
 102
 103     fosa_scheduler_operations = *scheduler_ops;
 104
 105     pthread_attr_init (&attr);
 106     sched_param.sched_priority=100; // Only one priority will be
 107                                       // used in the system.
 108     pthread_attr_setappschedulerstate(&attr, PTHREAD_APPSCHEDULER);
 109     pthread_attr_setschedparam (&attr, &sched_param);
 110
 111     ret=pthread_create(&fosa_scheduler_thread, &attr,
 112                        fosa_scheduler_loop, NULL);
 113     return ret;
 114 }
 115
 116
 117
 118 int fosa_thread_attr_set_appscheduled (frsh_thread_attr_t *attr,
 119                                        bool appscheduled){
 120      if (attr){
 121           if (appscheduled)
 122                attr->policy=SCHED_APP;
 123           else
 124                attr->policy=SCHED_FIFO;
 125           return 0;
 126      }
 127      else return EINVAL;
 128 }
 129
 130 int fosa_thread_attr_get_appscheduled (const frsh_thread_attr_t *attr,
 131                                        bool *appscheduled){
 132         if (attr){
 133              if (attr->policy==SCHED_APP)
 134                   *appscheduled=true;
 135              else
 136                   *appscheduled=false;
 137              return 0;
 138         }
 139         else return EINVAL;
 140 }
 141
 142 int fosa_thread_attr_set_appsched_params (frsh_thread_attr_t *attr,
 143                                                  const void *param,
 144                                                  size_t paramsize){
 145      return pthread_attr_setappschedparam(attr, (void *)param, paramsize);
 146 }
 147
 148 int fosa_thread_attr_get_appsched_params (const frsh_thread_attr_t *attr,
 149                                           void *param,
 150                                           size_t *paramsize){
 151      return pthread_attr_getappschedparam((frsh_thread_attr_t *)attr, param, paramsize);
 152 }
 153
 154 int fosa_ads_set_appscheduled (frsh_thread_id_t thread,
 155                                bool appscheduled){
 156      pthread_t sched=(appscheduled)?fosa_scheduler_thread:0;
 157
 158      return (!pthread_setappscheduler(thread, sched))?0:EINVAL;
 159 }
 160
 161 int fosa_ads_get_appscheduled (frsh_thread_id_t thread,
 162                                bool *appscheduled){
 163      if (thread) {
 164           *appscheduled=(appscheduler(thread))?1:0;
 165           return 0;
 166      }
 167      return EINVAL;
 168 }
 169
 170 int fosa_ads_set_appschedparam (frsh_thread_id_t thread,
 171                                 const void *param,
 172                                 size_t paramsize){
 173      return (!pthread_setappschedparam(thread, (void *)param, paramsize))?0:EINVAL;
 174 }
 175
 176 int fosa_ads_get_appsched_params (frsh_thread_id_t thread,
 177                                   void *param,
 178                                   size_t *paramsize){
 179      return (!pthread_getappschedparam(thread, param, paramsize))?0:EINVAL;
 180 }
 181
 182 int fosa_ads_set_appsched_params (frsh_thread_id_t thread,
 183                                   const void *param,
 184                                   size_t paramsize){
 185      return (!pthread_setappschedparam(thread, (void *)param, paramsize))?0:EINVAL;
 186 }
 187
 188 /*********************************
 189  * ADS actions
 190  *
 191  * A scheduling actions object is used to specify a series of actions
 192  * to be performed by the system at the end of a scheduler primitive
 193  * operation. The order of the actions added to the object shall be
 194  * preserved.
 195  *
 196  *********************************/
 197
 198 int fosa_adsactions_add_reject(fosa_ads_actions_t *sched_actions,
 199                                frsh_thread_id_t thread){
 200     return posix_appsched_actions_addreject(sched_actions, thread);
 201 }
 202
 203 int fosa_adsactions_add_activate(fosa_ads_actions_t *sched_actions,
 204                                  frsh_thread_id_t thread,
 205                                  fosa_ads_urgency_t urgency){
 206     RTL_PRIO(thread)=set_urgency(thread, urgency);
 207     return posix_appsched_actions_addactivate(sched_actions, thread);
 208 }
 209
 210 int fosa_adsactions_add_suspend(fosa_ads_actions_t *sched_actions,
 211                                        frsh_thread_id_t thread){
 212      return posix_appsched_actions_addsuspend (sched_actions, thread);
 213 }
 214
 215 extern timer_t fosa_timeout_timer; // defined in rtl_fosa.c
 216 int fosa_adsactions_add_timeout(fosa_ads_actions_t *sched_actions,
 217                                 fosa_clock_id_t clock_id,
 218                                 const struct timespec *at_time){
 219      struct sigevent signal;
 220      struct itimerspec at_itimer= (struct itimerspec)
 221          {.it_interval=(struct timespec){0,0},
 222           .it_value=*at_time};
 223
 224      if (fosa_timeout_timer)
 225           return EINVAL;
 226
 227      signal.sigev_signo=0;
 228      signal.sigev_notify=SIGEV_NONE;
 229
 230      timer_create(clock_id, &signal, &fosa_timeout_timer);
 231      timer_settime(fosa_timeout_timer, 0, &at_itimer, 0);
 232      return 0;
 233 }
 234
 235
 236 int fosa_adsactions_add_thread_notification(fosa_ads_actions_t *sched_actions,
 237                                             frsh_thread_id_t thread,
 238                                             fosa_clock_id_t clock_id,
 239                                             const struct timespec *at_time){
 240      struct sigevent signal;
 241      struct itimerspec at_itimer= (struct itimerspec)
 242          {.it_interval=(struct timespec){0,0},
 243           .it_value=*at_time};
 244
 245      if (fosa_timeout_timer)
 246           return EINVAL;
 247
 248      signal.sigev_value.sival_ptr=(void *)clock_id;
 249      signal.sigev_signo=(int)thread;
 250      signal.sigev_notify=SIGEV_NONE;
 251
 252      timer_create(clock_id, &signal, &fosa_timeout_timer);
 253      timer_settime(fosa_timeout_timer, 0, &at_itimer, 0);
 254      return 0;
 255 }
 256 extern rtl_sigset_t fosa_scheduler_signal_bitmap; // as declared in rtl_fosa.c
 257
 258 int fosa_ads_set_handled_signal_set(frsh_signal_t set[], int size){
 259      int x;
 260
 261      rtl_sigemptyset(&fosa_scheduler_signal_bitmap);
 262      for (x=0; x<size; x++)
 263          rtl_sigaddset(&fosa_scheduler_signal_bitmap, set[x]);
 264      return 0;
 265 }
 266
 267
 268 int fosa_ads_invoke_withdata (const void *msg, size_t msg_size,
 269                               void *reply, size_t *reply_size){
 270     return posix_appsched_invoke_withdata((void *)msg, msg_size, reply, reply_size);
 271 }