--- /dev/null
+// -----------------------------------------------------------------------
+// Copyright (C) 2006 - 2008 FRESCOR consortium partners:
+//
+// Universidad de Cantabria, SPAIN
+// University of York, UK
+// Scuola Superiore Sant'Anna, ITALY
+// Kaiserslautern University, GERMANY
+// Univ. Politécnica Valencia, SPAIN
+// Czech Technical University in Prague, CZECH REPUBLIC
+// ENEA SWEDEN
+// Thales Communication S.A. FRANCE
+// Visual Tools S.A. SPAIN
+// Rapita Systems Ltd UK
+// Evidence ITALY
+//
+// See http://www.frescor.org for a link to partners' websites
+//
+// FRESCOR project (FP6/2005/IST/5-034026) is funded
+// in part by the European Union Sixth Framework Programme
+// The European Union is not liable of any use that may be
+// made of this code.
+//
+//
+// based on previous work (FSF) done in the FIRST project
+//
+// Copyright (C) 2005 Mälardalen University, SWEDEN
+// Scuola Superiore S.Anna, ITALY
+// Universidad de Cantabria, SPAIN
+// University of York, UK
+//
+// FSF API web pages: http://marte.unican.es/fsf/docs
+// http://shark.sssup.it/contrib/first/docs/
+//
+// This file is part of FOSA (Frsh Operating System Adaption)
+//
+// FOSA is free software; you can redistribute it and/or modify it
+// under terms of the GNU General Public License as published by the
+// Free Software Foundation; either version 2, or (at your option) any
+// later version. FOSA 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 FOSA; see file
+// COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,
+// Cambridge, MA 02139, USA.
+//
+// As a special exception, including FOSA header files in a file,
+// instantiating FOSA generics or templates, or linking other files
+// with FOSA objects to produce an executable application, does not
+// by itself cause the resulting executable application to be covered
+// by the GNU General Public License. This exception does not
+// however invalidate any other reasons why the executable file might be
+// covered by the GNU Public License.
+// -----------------------------------------------------------------------
+//fosa_group_clocks.c
+//==============================================
+// ******** ****** ******** **********
+// **///// /** ** **////// /** /**
+// ** /** ** /** /** /**
+// ******* /** ** /********* /**********
+// **//// /** ** ////////** /**//////**
+// ** /** ** /** /** /**
+// ** /** ** ******** /** /**
+// // /******/ //////// // //
+//
+// FOSA(Frescor Operating System Adaptation layer)
+//================================================
+
+#include "fosa_group_clocks.h"
+
+/**
+ * fosa_thread_set_create()
+ *
+ * Create an empty thread set and return an identifier
+ *
+ * This function stores in the variable pointed to by set the
+ * identifier of a thread set that is created by the function.
+ *
+ * Returns 0 if successful; otherwise it returns an error code:
+ * FOSA_EAGAIN: no resources are currently available to create the
+ * thread set
+ *
+ * Alternatively, in case of error the implementation is allowed to
+ * notify it to the system console and then terminate the FRSH
+ * implementation and dependant applications
+ **/
+int fosa_thread_set_create(fosa_thread_set_id_t *set)
+{
+ return groupclock_create (set);
+}
+
+
+/**
+ * fosa_thread_set_destroy()
+ *
+ * Destroy a thread set
+ *
+ * This function destroys the thread set identified by set. The
+ * threads that were in the set are detached from the set. It is
+ * an error to use the identifier after this call. The effects of
+ * using a CPU-time clock associated with the destroyed thread are
+ * undefined.
+ *
+ * Returns 0 if successful; otherwise it returns an error code:
+ * FOSA_EINVAL: set is invalid
+ *
+ * Alternatively, in case of error the implementation is allowed to
+ * notify it to the system console and then terminate the FRSH
+ * implementation and dependant applications
+ **/
+int fosa_thread_set_destroy(fosa_thread_set_id_t set)
+{
+ return groupclock_delete (set);
+}
+
+
+/**
+ * fosa_thread_set_add()
+ *
+ * Add a thread to a thread set
+ *
+ * This function adds the thread identified with thread_id to the
+ * thread set identified by set.
+ *
+ * Returns 0 if successful; otherwise it returns an error code:
+ * FOSA_EINVAL: set is invalid
+ * FOSA_ENOTSUP: thread already a member of some other set
+ * FOSA_EAGAIN: no resources available to add the new thread
+ * FOSA_ESRCH: thread_id doesn't identify a valid thread
+ *
+ * Alternatively, in case of error the implementation is allowed to
+ * notify it to the system console and then terminate the FRSH
+ * implementation and dependant applications
+ **/
+int fosa_thread_set_add(fosa_thread_set_id_t set,
+ fosa_thread_id_t thread_id)
+{
+ return groupclock_add (set, thread_id);
+}
+
+
+
+/**
+ * fosa_thread_set_del()
+ *
+ * Delete a thread from a thread set
+ *
+ * This function deletes the thread identified with thread_id from
+ * the thread set identified by set.
+ *
+ * Returns 0 if successful; otherwise it returns an error code:
+ * FOSA_EINVAL: set is invalid
+ * FOSA_EINVAL: thread is not a member of the set
+ * FOSA_ESRCH: thread_id doesn't identify a valid thread
+ *
+ * Alternatively, in case of error the implementation is allowed to
+ * notify it to the system console and then terminate the FRSH
+ * implementation and dependant applications
+ **/
+int fosa_thread_set_del(fosa_thread_set_id_t set,
+ fosa_thread_id_t thread_id)
+{
+ return groupclock_remove (set, thread_id);
+}
+
+/**
+ * fosa_get_groupcpu_clock()
+ *
+ * Get the identifier of a cpu-time clock associated to a thread
+ * set
+ *
+ * This function stores in the variable pointed to by clockid the
+ * identifier of a cpu-time clock for the thread set specified
+ * by set.
+ *
+ * Returns 0 if successful; otherwise it returns an error code:
+ * FOSA_EINVAL: the set is invalid
+ * FOSA_EINVAL: clock_id is a null pointer
+ *
+ * Alternatively, in case of error the implementation is allowed to
+ * notify it to the system console and then terminate the FRSH
+ * implementation and dependant applications
+ **/
+int fosa_get_groupcpu_clock(const fosa_thread_set_id_t set,
+ fosa_clock_id_t *clock_id)
+{
+ return groupclock_getclockid (set, clock_id);
+}
#include <unistd.h>
#include <signal.h>
+#define TRACE(str, args...) printf ("%d: %s: " str, __LINE__, __func__, ##args)
+
/*************************
* Thread identification
*************************/
sigset_t accept_set;
struct sigaction act;
+// printf ("%d: %s: limits=[%d, %d]\n", __LINE__, __FUNCTION__,
+// FOSA_SIGNAL_MIN, FOSA_SIGNAL_MAX);
+
if (size < 0)
return EINVAL;
act.sa_flags = SA_SIGINFO;
act.sa_handler = SIG_DFL;
+// printf ("%d: %s: add signals\n", __LINE__, __FUNCTION__);
for (i = 0; i < size; i ++) {
+// printf ("%d: %s: signal=%d \n", __LINE__, __FUNCTION__, set[i]);
+
if (FOSA_SIGNAL_MIN > set [i] || set [i] > FOSA_SIGNAL_MAX)
return EINVAL;
- sigaction (set [i], &act, NULL);
+// printf ("%d: %s: sigaction\n", __LINE__, __FUNCTION__);
+ sigaction (set [i], &act, NULL);
sigaddset (&accept_set, set [i]);
}
-
- return pthread_sigmask (SIG_BLOCK, &accept_set, NULL);
+
+// printf ("%d: %s: pthread_sigmask\n", __LINE__, __FUNCTION__);
+ assert (!pthread_sigmask (SIG_BLOCK, &accept_set, NULL));
+ return 0;
}
(fosa_signal_t set[], int size, fosa_signal_t *signal_received,
fosa_signal_info_t *info)
{
- return fosa_signal_timedwait (set, size, signal_received, info, NULL);
+ return fosa_signal_timedwait (set, size, signal_received, info, NULL);
}
+
int fosa_signal_timedwait
(fosa_signal_t set[], int size, fosa_signal_t *signal_received,
fosa_signal_info_t *info, const fosa_rel_time_t *timeout)
int i, sig;
sigset_t wset;
siginfo_t nfo;
- struct timespec tout = fosa_rel_time_to_timespec (*timeout);
-
+
if (size < 0)
return EINVAL;
sigaddset (&wset, set [i]);
}
- sig = sigtimedwait (&wset, &nfo, &tout);
+ sig = sigtimedwait (&wset, &nfo, timeout);
if (sig == -1)
return errno;
--- /dev/null
+// -----------------------------------------------------------------------
+// Copyright (C) 2006 - 2008 FRESCOR consortium partners:
+//
+// Universidad de Cantabria, SPAIN
+// University of York, UK
+// Scuola Superiore Sant'Anna, ITALY
+// Kaiserslautern University, GERMANY
+// Univ. Politécnica Valencia, SPAIN
+// Czech Technical University in Prague, CZECH REPUBLIC
+// ENEA SWEDEN
+// Thales Communication S.A. FRANCE
+// Visual Tools S.A. SPAIN
+// Rapita Systems Ltd UK
+// Evidence ITALY
+//
+// See http://www.frescor.org for a link to partners' websites
+//
+// FRESCOR project (FP6/2005/IST/5-034026) is funded
+// in part by the European Union Sixth Framework Programme
+// The European Union is not liable of any use that may be
+// made of this code.
+//
+//
+// based on previous work (FSF) done in the FIRST project
+//
+// Copyright (C) 2005 Mälardalen University, SWEDEN
+// Scuola Superiore S.Anna, ITALY
+// Universidad de Cantabria, SPAIN
+// University of York, UK
+//
+// FSF API web pages: http://marte.unican.es/fsf/docs
+// http://shark.sssup.it/contrib/first/docs/
+//
+// This file is part of FOSA (Frsh Operating System Adaption)
+//
+// FOSA is free software; you can redistribute it and/or modify it
+// under terms of the GNU General Public License as published by the
+// Free Software Foundation; either version 2, or (at your option) any
+// later version. FOSA 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 FOSA; see file
+// COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,
+// Cambridge, MA 02139, USA.
+//
+// As a special exception, including FOSA header files in a file,
+// instantiating FOSA generics or templates, or linking other files
+// with FOSA objects to produce an executable application, does not
+// by itself cause the resulting executable application to be covered
+// by the GNU General Public License. This exception does not
+// however invalidate any other reasons why the executable file might be
+// covered by the GNU Public License.
+// -----------------------------------------------------------------------
+
+/*
+ * Vicent Brocal <vibrotor@ai2.upv.es>:
+ * Minor modifications to adapt the code to test the implementation of
+ * group clocks for PaRTiKle.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+
+#include <assert.h>
+#include <stdlib.h> // for exit in assert
+#include <string.h> // for memset
+
+#include "fosa.h"
+
+
+/*****************************/
+/* D E F I N I T I O N S */
+/*****************************/
+#define RT_ERROR_SIGWAIT -2
+#define RT_ERROR_TIMER -3
+
+#define SIGNAL_TIMER (FOSA_SIGNAL_MAX - 1)
+
+#define SIGNAL_A (FOSA_SIGNAL_MAX - 2)
+#define SIGNAL_KILL_A (FOSA_SIGNAL_MAX - 3)
+
+#define SIGNAL_B (FOSA_SIGNAL_MAX - 4)
+#define SIGNAL_KILL_B (FOSA_SIGNAL_MAX - 5)
+#define SIGNAL_C (FOSA_SIGNAL_MAX - 6)
+#define SIGNAL_KILL_C (FOSA_SIGNAL_MAX - 7)
+
+
+#define PRIO_MAIN 4
+#define PRIO_A 5
+#define PRIO_B 6
+#define PRIO_C 7
+#define PRIO_CATCHER 8
+
+
+typedef struct _my_signal_info_t
+{
+ fosa_rel_time_t eat_time;
+} my_signal_info_t;
+
+typedef struct _my_thread_arg_t
+{
+ char identifier[100];
+ fosa_signal_t signum;
+ fosa_signal_t sigkill;
+} my_thread_arg_t;
+
+
+
+
+/***************************/
+/* P R O T O T Y P E S */
+/***************************/
+static void *controlled_thread(void *thread_arg);
+static void *catcher_thread(void *arg);
+
+static void create_thread(fosa_thread_code_t thread_code,
+ void *arg,
+ int priority,
+ fosa_thread_id_t *tid);
+
+static void time_printf(const char *format, ...);
+
+
+/***************************/
+/* S T A T I C D A T A */
+/***************************/
+static fosa_abs_time_t start_time;
+static bool timer_expired;
+
+fosa_clock_id_t group_clock_id;
+
+int main ()
+{
+ int err = -1;
+
+ fosa_thread_id_t tid_A, tid_B, tid_C, tid_catcher;
+ my_thread_arg_t thread_arg_A, thread_arg_B, thread_arg_C;
+ fosa_rel_time_t eat_time_A, eat_time_B, eat_time_C, group_time;
+ fosa_signal_info_t siginfo_A, siginfo_B, siginfo_C, siginfo_timer;
+
+ fosa_thread_set_id_t thread_set_id;
+ fosa_timer_id_t group_timer;
+
+ /* Initialize base time and thread arguments */
+ /*********************************************/
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, &start_time);
+
+ strcpy(thread_arg_A.identifier, "THREAD A");
+ thread_arg_A.signum = SIGNAL_A;
+ thread_arg_A.sigkill = SIGNAL_KILL_A;
+ siginfo_A.sival_ptr = &eat_time_A;
+
+ strcpy(thread_arg_B.identifier, "THREAD B");
+ thread_arg_B.signum = SIGNAL_B;
+ thread_arg_B.sigkill = SIGNAL_KILL_B;
+ siginfo_B.sival_ptr = &eat_time_B;
+
+ strcpy(thread_arg_C.identifier, "THREAD C");
+ thread_arg_C.signum = SIGNAL_C;
+ thread_arg_C.sigkill = SIGNAL_KILL_C;
+ siginfo_C.sival_ptr = &eat_time_C;
+
+
+ /* We set our priority and create the threads. The threads */
+ /* will be blocked waiting for the signal. */
+ /************************************************************/
+ err = fosa_thread_set_prio(fosa_thread_self(), fosa_get_priority_min() + PRIO_MAIN);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d with setting main priority\n", err);
+ exit(1);
+ }
+
+ create_thread(controlled_thread, &thread_arg_A, PRIO_A, &tid_A);
+ create_thread(controlled_thread, &thread_arg_B, PRIO_B, &tid_B);
+ create_thread(controlled_thread, &thread_arg_C, PRIO_C, &tid_C);
+
+ create_thread(catcher_thread, NULL, PRIO_CATCHER, &tid_catcher);
+
+
+ /* We create the thread set, get its clock and create a timer */
+ /****************************************************************/
+ err = fosa_thread_set_create(&thread_set_id);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d creating thread_set\n", err);
+ exit(1);
+ }
+
+ err = fosa_get_groupcpu_clock(thread_set_id, &group_clock_id);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d obtaining group clock\n", err);
+ exit(1);
+ }
+
+ err = fosa_timer_create(group_clock_id, SIGNAL_TIMER, siginfo_timer, &group_timer);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d obtaining group CPU timer\n", err);
+ exit(1);
+ }
+
+ /* We add the 3 threads to the set */
+ /*************************************/
+ err = fosa_thread_set_add(thread_set_id, tid_A);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d adding thread to thread set\n", err);
+ exit(1);
+ }
+
+ err = fosa_thread_set_add(thread_set_id, tid_B);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d adding thread to thread set\n", err);
+ exit(1);
+ }
+
+ err = fosa_thread_set_add(thread_set_id, tid_C);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d adding thread to thread set\n", err);
+ exit(1);
+ }
+
+
+ /* First experiment: We arm the group CPU timer with 5 sec and */
+ /* make each thread execute two seconds each. */
+ /****************************************************************/
+ eat_time_A = fosa_msec_to_rel_time(2000);
+ eat_time_B = fosa_msec_to_rel_time(2000);
+ eat_time_C = fosa_msec_to_rel_time(2000);
+
+ group_time = fosa_msec_to_rel_time(5000);
+
+ timer_expired = false;
+ time_printf("MAIN: Arming group timer for 5 seconds\n");
+ err = fosa_rel_timer_arm(group_timer, &group_time);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d queueing signal\n", err);
+ exit(1);
+ }
+
+ err = fosa_signal_queue(SIGNAL_A, siginfo_A, (fosa_thread_id_t) 0);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d queueing signal\n", err);
+ exit(1);
+ }
+
+ err = fosa_signal_queue(SIGNAL_B, siginfo_B, (fosa_thread_id_t) 0);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d queueing signal\n", err);
+ exit(1);
+ }
+
+ err = fosa_signal_queue(SIGNAL_C, siginfo_C, (fosa_thread_id_t) 0);
+ if (err != 0)
+ {
+ printf("MAIN: Error %d queueing signal\n", err);
+ exit(1);
+ }
+
+ struct timespec t = {2,0};
+ nanosleep (&t, NULL);
+ time_printf("MAIN: Back after all threads\n");
+
+ assert(timer_expired);
+
+
+ return 0;
+}
+
+
+
+
+
+// ----------------------------------------------------------------
+
+/**
+ * This is a controlled thread. It stays waiting for a signal and
+ * then eats the requested time sent in the signal info.
+ **/
+static void *controlled_thread(void *arg)
+{
+
+ fosa_signal_t signal_set[2];
+ int err;
+
+ my_thread_arg_t *thread_arg = (my_thread_arg_t *) arg;
+
+ time_printf("%s: Initializing\n", thread_arg->identifier);
+
+ signal_set[0] = thread_arg->signum;
+ signal_set[1] = thread_arg->sigkill;
+ err = fosa_set_accepted_signals(signal_set, 2);
+ if (err !=0)
+ {
+ printf ("%s: Error %d while setting the signal mask\n", thread_arg->identifier, err);
+ exit (1);
+ }
+
+ while(1)
+ {
+ fosa_signal_t signal_received;
+ fosa_signal_info_t info_received;
+ my_signal_info_t *signal_info;
+
+ err = fosa_signal_wait(signal_set, 2, &signal_received, &info_received);
+ if ( err != 0)
+ {
+ printf("%s: Error %d while waiting for signal\n", thread_arg->identifier, err);
+ exit(1);
+ }
+
+ if (signal_received == thread_arg->sigkill)
+ {
+ time_printf("%s: Terminating\n", thread_arg->identifier);
+ break;
+ }
+
+ signal_info = (my_signal_info_t *) info_received.sival_ptr;
+
+ time_printf("%s: about to eat %ld msec\n", thread_arg->identifier, fosa_rel_time_to_msec(signal_info->eat_time) );
+
+ fosa_eat(&signal_info->eat_time);
+ }
+
+ return NULL;
+}
+
+// ------------------------------------------------------------------
+
+static void *catcher_thread(void *arg)
+{
+ int err = -1;
+ fosa_signal_t signal_set[1];
+
+ time_printf("CATCHER: Initializing\n");
+
+ signal_set[0] = SIGNAL_TIMER;
+ err = fosa_set_accepted_signals(signal_set, 1);
+ if (err !=0)
+ {
+ printf ("CATCHER: Error %d while setting the signal mask\n", err);
+ exit (1);
+ }
+
+ while(1)
+ {
+ fosa_signal_t signal_received;
+ fosa_signal_info_t info_received;
+
+ err = fosa_signal_wait(signal_set, 1, &signal_received, &info_received);
+ if ( err != 0)
+ {
+ printf("CATCHER: Error %d while waiting for signal\n", err);
+ exit(1);
+ }
+
+ time_printf("CATCHER: Group timer expired!!!\n");
+ timer_expired = true;
+ }
+
+ return NULL;
+}
+
+
+// ------------------------------------------------------------------------
+
+static void create_thread(fosa_thread_code_t thread_code,
+ void *arg,
+ int priority,
+ fosa_thread_id_t *tid)
+{
+ fosa_thread_attr_t attr;
+ int err;
+
+ err = fosa_thread_attr_init(&attr);
+ if (err != 0) {
+ printf("Error %d while initializing the attr\n", err);
+ exit(1);
+ }
+
+ err = fosa_thread_attr_set_prio(&attr, fosa_get_priority_min() + priority);
+ if (err != 0) {
+ printf("Error %d while setting priority\n", err);
+ exit(1);
+ }
+
+ err = fosa_thread_create(tid, &attr, thread_code, arg);
+ if (err) {
+ printf("Error %d in fosa_thread_create\n", err);
+ exit(1);
+ }
+}
+
+
+
+// ------------------------------------------------------------------------
+
+
+static void time_printf(const char *format, ...)
+{
+ va_list args;
+
+ fosa_abs_time_t current_time;
+ fosa_rel_time_t interval;
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, ¤t_time);
+ interval = fosa_abs_time_extract_interval(start_time, current_time);
+
+ printf("%ld:", fosa_rel_time_to_msec(interval));
+
+ va_start(args, format);
+ vprintf(format, args);
+ va_end(args);
+}
projects / frescor / fosa.git / commitdiff