1 // -----------------------------------------------------------------------
2 // Copyright (C) 2006 - 2008 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 // -----------------------------------------------------------------------
59 - Define a pthread_join equivalent in FOSA (and also the detachable
61 - Define a clock_nanosleep equivalent in FOSA.
69 #include <time.h> // For clock_nanosleep
73 #include <misc/error_checks.h>
76 /*************************/
77 /* D E F I N I T I O N S */
78 /*************************/
79 #define PERIODIC_THREAD_PRIORITY (fosa_get_priority_min() + 5)
80 #define MAIN_THREAD_PRIORITY (fosa_get_priority_min() + 3)
82 #define NUMBER_OF_JUMPS 100
84 typedef struct _results_t
86 double first_jump_interval_ms;
87 double average_jump_interval_ms;
88 double min_jump_interval_ms;
89 int iteration_min_jump_interval;
90 double max_jump_interval_ms;
91 int iteration_max_jump_interval;
92 double total_jump_interval_ms;
96 /*************************/
97 /* P R O T O T Y P E S */
98 /*************************/
99 static void *periodic_code(void *thread_arg);
101 /**********************************/
102 /* S T A T I C V A R I A B L E S */
103 /**********************************/
104 static fosa_long_jump_context_t context;
105 static void work_under_a_interruptible_budget();
107 fosa_abs_time_t before_jump_timestamp;
112 fosa_thread_attr_t periodic_attr;
113 fosa_signal_t signal_set[1];
114 fosa_thread_id_t periodic_tid;
117 memset(&context, 0, sizeof(context) );
120 /* We set the signal mask */
121 signal_set[0] = FOSA_LONG_JUMP_SIGNAL;
122 CHK( fosa_set_accepted_signals(signal_set, 1) );
124 /* We create a new thread with a given priority */
125 CHK( fosa_thread_set_prio(fosa_thread_self(), MAIN_THREAD_PRIORITY) );
127 CHK( fosa_thread_attr_init(&periodic_attr) );
128 CHK( fosa_thread_attr_set_prio(&periodic_attr, PERIODIC_THREAD_PRIORITY) );
129 CHK( fosa_thread_create(&periodic_tid, &periodic_attr, periodic_code, &results) );
131 printf("Main waits for the periodic code to finish...\n");
132 pthread_join(periodic_tid, NULL);
134 results.average_jump_interval_ms = results.total_jump_interval_ms/results.number_of_jumps;
136 printf("------------ RESULTS -------------\n");
137 printf("First Time: %6.3f ms\n Max Time: %6.3f ms Iteration %d Min Time: %6.3f ms Iteration %d\n",
138 results.first_jump_interval_ms, results.max_jump_interval_ms, results.iteration_max_jump_interval,
139 results.min_jump_interval_ms, results.iteration_min_jump_interval);
140 printf("Average_time: %6.3f ms Total jumps: %d\n", results.average_jump_interval_ms, results.number_of_jumps);
142 printf("End of test\n");
146 // ------------------------------------------------------------------------
149 static void *periodic_code(void *thread_arg)
151 fosa_thread_id_t jump_handler_thread;
153 fosa_signal_t jump_signal;
154 fosa_signal_info_t jump_signal_info;
156 fosa_clock_id_t clock_id;
157 fosa_timer_id_t jump_timer;
164 results = (results_t *) thread_arg;
166 /* We install a long jump handler */
167 /* - This creates the thread that will wait for */
168 /* FOSA_JUMP_SIGNAL */
169 /************************************************/
170 CHK( fosa_long_jump_install_handler(&jump_signal, &jump_handler_thread) );
172 /* We create a budget timer using the thread's CPU clock */
174 /* When the timer expires: */
175 /* - Triggers the signal corresponding to signal jump */
176 /* - Provides a pointer to the context in siginfo. */
178 /* This signal is delivered to the handler thread. */
179 /*********************************************************/
180 CHK( fosa_thread_get_cputime_clock( fosa_thread_self(), &clock_id) );
181 jump_signal_info.sival_ptr = &context;
182 CHK( fosa_timer_create_with_receiver(clock_id, jump_signal, jump_signal_info,
183 &jump_timer, jump_handler_thread) );
185 results->number_of_jumps = 0;
189 while (results->number_of_jumps < NUMBER_OF_JUMPS)
192 fosa_rel_time_t budget = fosa_msec_to_rel_time(20); // 20 ms
194 fosa_abs_time_t after_jump_timestamp;
195 fosa_rel_time_t jump_interval;
196 double jump_interval_ms = 0.0;
200 /* We initialise variables */
202 memset(&before_jump_timestamp, 0, sizeof(before_jump_timestamp) );
205 /* Start of the interruptible block */
206 /************************************/
208 /* We arm the jump_timer */
209 fosa_rel_timer_arm(jump_timer, &budget);
212 /* This is the point where the jump returns */
213 fosa_long_jump_save_context(&context);
215 /* Query if we come from a jump */
216 fosa_long_jump_was_performed(&context, &jumped);
219 /* HERE COMES THE WORK THAT CAN BE INTERRUPTED */
220 work_under_a_interruptible_budget();
221 printf("We should not arrive here \n");
226 fosa_clock_get_time(FOSA_CLOCK_REALTIME, &after_jump_timestamp);
228 results->number_of_jumps++;
229 jump_interval = fosa_abs_time_extract_interval(before_jump_timestamp, after_jump_timestamp);
230 jump_interval_ms = fosa_rel_time_to_msec(jump_interval);
234 results->first_jump_interval_ms = jump_interval_ms;
236 results->max_jump_interval_ms = jump_interval_ms;
237 results->iteration_max_jump_interval = results->number_of_jumps;
239 results->min_jump_interval_ms = jump_interval_ms;
240 results->iteration_min_jump_interval = results->number_of_jumps;
244 results->total_jump_interval_ms += jump_interval_ms;
246 if (jump_interval_ms > results->max_jump_interval_ms)
248 results->max_jump_interval_ms = jump_interval_ms;
249 results->iteration_max_jump_interval = results->number_of_jumps;
252 if (jump_interval_ms < results->min_jump_interval_ms)
254 results->min_jump_interval_ms = jump_interval_ms;
255 results->iteration_min_jump_interval = results->number_of_jumps;
258 printf("Jump Iteration: %d\r", results->number_of_jumps);
261 /* End of interruptible work */
262 /*****************************/
271 // ------------------------------------------------------------------------------
273 static void work_under_a_interruptible_budget()
275 /* This must be measured */
278 fosa_clock_get_time(FOSA_CLOCK_REALTIME, &before_jump_timestamp);