1 // -----------------------------------------------------------------------
2 // Copyright (C) 2006 - 2009 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. Politécnica 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
24 // based on previous work (FSF) done in the FIRST project
26 // Copyright (C) 2005 Mälardalen University, SWEDEN
27 // Scuola Superiore S.Anna, ITALY
28 // Universidad de Cantabria, SPAIN
29 // University of York, UK
31 // FSF API web pages: http://marte.unican.es/fsf/docs
32 // http://shark.sssup.it/contrib/first/docs/
34 // This file is part of FOSA (Frsh Operating System Adaption)
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.
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 // -----------------------------------------------------------------------
60 #include <time.h> // For clock_nanosleep
64 #include <misc/error_checks.h>
68 /*************************/
69 /* D E F I N I T I O N S */
70 /*************************/
71 #define PERIODIC_THREAD_PRIORITY (fosa_get_priority_min() + 3)
72 #define MAIN_THREAD_PRIORITY (fosa_get_priority_min() + 5)
75 /*************************/
76 /* P R O T O T Y P E S */
77 /*************************/
78 static void *periodic_code(void *thread_arg);
80 /**********************************/
81 /* S T A T I C V A R I A B L E S */
82 /**********************************/
83 static fosa_long_jump_context_t context;
84 static void work_under_an_interruptible_budget();
89 fosa_thread_attr_t periodic_attr;
90 fosa_signal_t signal_set[1];
91 fosa_thread_id_t periodic_tid;
93 memset(&context, 0, sizeof(context) );
95 memset(&periodic_attr, 0, sizeof(periodic_attr) );
96 memset(&signal_set, 0, sizeof(signal_set) );
97 memset(&periodic_tid, 0, sizeof(periodic_tid) );
100 /* We set the signal mask */
101 signal_set[0] = FOSA_LONG_JUMP_SIGNAL;
103 CHK( fosa_set_accepted_signals(signal_set, 1) );
105 /* We create a new thread with a given priority */
106 CHK( fosa_thread_attr_init(&periodic_attr) );
107 CHK( fosa_thread_attr_set_prio
108 (&periodic_attr, PERIODIC_THREAD_PRIORITY) );
109 CHK( fosa_thread_create
110 (&periodic_tid, &periodic_attr, periodic_code, NULL) );
112 printf("Main goes to sleep...\n");
119 // ------------------------------------------------------------------------
122 static void *periodic_code(void *thread_arg)
124 fosa_rel_time_t period = fosa_msec_to_rel_time(2500);
126 fosa_thread_id_t jump_handler_thread;
128 fosa_signal_t jump_signal;
129 fosa_signal_info_t jump_signal_info;
131 fosa_clock_id_t clock_id;
132 fosa_timer_id_t jump_timer;
134 memset(&jump_signal, 0, sizeof(jump_signal) );
135 memset(&jump_signal_info, 0, sizeof(jump_signal_info) );
136 memset(&jump_handler_thread, 0, sizeof(jump_handler_thread) );
137 memset(&clock_id, 0, sizeof(clock_id) );
138 memset(&jump_timer, 0, sizeof(jump_timer) );
141 /* We install a long jump handler */
142 /* - This creates the thread that will wait for */
143 /* FOSA_JUMP_SIGNAL */
144 /************************************************/
145 CHK( fosa_long_jump_install_handler(&jump_signal, &jump_handler_thread) );
147 /* We create a budget timer using the thread's CPU clock */
149 /* When the timer expires: */
150 /* - Triggers the signal corresponding to signal jump */
151 /* - Provides a pointer to the context in siginfo. */
153 /* This signal is delivered to the handler thread. */
154 /*********************************************************/
155 CHK( fosa_thread_get_cputime_clock( fosa_thread_self(), &clock_id) );
156 jump_signal_info.sival_ptr = &context;
157 CHK( fosa_timer_create_with_receiver
158 (clock_id, jump_signal, jump_signal_info,
159 &jump_timer, jump_handler_thread) );
162 printf("Start periodic work with budget=1400ms\n");
169 fosa_rel_time_t budget = fosa_msec_to_rel_time(1400);
170 fosa_abs_time_t activation_time;
171 struct timespec activation_time_tspec;
172 fosa_abs_time_t after_activation_time;
173 fosa_rel_time_t elapsed_time;
177 /* For statistical purposes we read the activation time */
178 CHK( fosa_clock_get_time(FOSA_CLOCK_REALTIME, &activation_time) );
182 /* Start of the interruptible block */
183 /************************************/
185 /* We arm the jump_timer */
186 CHK( fosa_rel_timer_arm(jump_timer, &budget) );
188 /* This is the point where the jump returns */
189 CHK( fosa_long_jump_save_context(&context) );
191 /* Query if we come from a jump */
192 CHK( fosa_long_jump_was_performed(&context, &jumped) );
195 /* HERE COMES THE WORK THAT CAN BE INTERRUPTED */
196 work_under_an_interruptible_budget();
197 CHK( fosa_timer_disarm(jump_timer, NULL) );
198 printf("NOT JUMPPED\n");
202 printf("JUMPPPPPEEED\n");
206 /* End of interruptible work */
207 /*****************************/
209 printf("After interruptible block\n");
211 /* Now we measure the time duration of the block */
212 /*************************************************/
213 CHK( fosa_clock_get_time(FOSA_CLOCK_REALTIME, &after_activation_time) );
214 elapsed_time = fosa_abs_time_extract_interval
215 (activation_time, after_activation_time);
216 printf("Execution time: %ld msec\n",
217 fosa_rel_time_to_msec(elapsed_time) );
219 /* And we program the next loop */
220 activation_time = fosa_abs_time_incr(activation_time, period);
221 activation_time_tspec = fosa_abs_time_to_timespec(activation_time);
222 clock_nanosleep(FOSA_CLOCK_REALTIME, TIMER_ABSTIME,
223 &activation_time_tspec,NULL);
230 // ------------------------------------------------------------------------------
232 static void work_under_an_interruptible_budget()
235 fosa_rel_time_t exec_time = fosa_msec_to_rel_time(1000); // 1 sec
238 printf("Start regular work (eat 1s)\n");
240 fosa_eat(&exec_time);
242 /* Once in every 5 executions we work over the budget */
245 printf("Eat additional time (6s more) \n");
246 fosa_eat(&exec_time);
247 fosa_eat(&exec_time);
248 fosa_eat(&exec_time);
249 fosa_eat(&exec_time);
250 fosa_eat(&exec_time);
251 fosa_eat(&exec_time);
254 printf("End regular work\n");