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Extend Testing of Sporadic Schedule in OS test

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This commit adds the test developed by Jan Staschulat with Issue #incubator_nuttx/2935

It is expected to cause the OS test to fail for the time being since that issue reports a bug.

Tested using the (new) stm32f4discovery:sporadic configuratioin.
This commit is contained in:
Gregory Nutt 2021-03-18 13:41:20 -06:00 committed by Xiang Xiao
parent 801acce04e
commit 1d3dda49a8
5 changed files with 361 additions and 97 deletions
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41
testing/ostest/Makefile
View File

@ -1,35 +1,20 @@
############################################################################
# apps/testing/ostest/Makefile
#
# Copyright (C) 2007-2012, 2014, 2017 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
# http://www.apache.org/licenses/LICENSE-2.0
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################
@ -105,7 +90,7 @@ CSRCS += roundrobin.c
endif
ifeq ($(CONFIG_SCHED_SPORADIC),y)
CSRCS += sporadic.c
CSRCS += sporadic.c sporadic2.c
endif
endif # CONFIG_DISABLE_PTHREAD

44
testing/ostest/ostest.h
View File

@ -1,36 +1,20 @@
/****************************************************************************
* apps/testing/ostest/ostest.h
*
* Copyright (C) 2007-2009, 2011-2012, 2018 Gregory Nutt. All rights
* reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* http://www.apache.org/licenses/LICENSE-2.0
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
@ -221,6 +205,10 @@ void rr_test(void);
void sporadic_test(void);
/* sporadic2.c **************************************************************/
void sporadic2_test(void);
/* tls.c ********************************************************************/
void tls_test(void);

4
testing/ostest/ostest_main.c
View File

@ -510,6 +510,10 @@ static int user_main(int argc, char *argv[])
printf("\nuser_main: sporadic scheduler test\n");
sporadic_test();
check_test_memory_usage();
printf("\nuser_main: Dual sporadic thread test\n");
sporadic2_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD

75
testing/ostest/sporadic.c
View File

@ -1,35 +1,20 @@
/****************************************************************************
* apps/testing/ostest/sporadic.c
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* http://www.apache.org/licenses/LICENSE-2.0
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
@ -99,11 +84,11 @@ static void *nuisance_func(void *parameter)
/* Sleep until we are cancelled */
for (;;)
for (; ; )
{
/* Sleep gracefully for awhile */
usleep(500*1000);
usleep(500 * 1000);
/* Then hog some CPU time */
@ -124,7 +109,7 @@ static void *fifo_func(void *parameter)
last = g_start_time;
for (;;)
for (; ; )
{
do
{
@ -143,13 +128,13 @@ static void *fifo_func(void *parameter)
sched_lock(); /* Just to exercise more logic */
printf("%4lu FIFO: %d\n",
(unsigned long)(now-g_start_time), param.sched_priority);
(unsigned long)(now - g_start_time), param.sched_priority);
last = now;
sched_unlock();
}
}
static void *sporadic_func(void *parameter)
static FAR void *sporadic_func(FAR void *parameter)
{
struct sched_param param;
time_t last;
@ -161,7 +146,7 @@ static void *sporadic_func(void *parameter)
last = g_start_time;
for (;;)
for (; ; )
{
do
{
@ -180,7 +165,8 @@ static void *sporadic_func(void *parameter)
sched_lock(); /* Just to exercise more logic */
printf("%4lu SPORADIC: %d->%d\n",
(unsigned long)(now-g_start_time), prio, param.sched_priority);
(unsigned long)(now - g_start_time), prio,
param.sched_priority);
prio = param.sched_priority;
last = now;
sched_unlock();
@ -260,7 +246,8 @@ void sporadic_test(void)
ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, ret=%d\n",
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, "
"ret=%d\n",
ret);
}
@ -268,7 +255,8 @@ void sporadic_test(void)
ret = pthread_attr_setschedparam(&attr, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedparam failed, ret=%d\n",
printf("sporadic_test: ERROR: pthread_attr_setschedparam failed, "
"ret=%d\n",
ret);
}
@ -285,7 +273,8 @@ void sporadic_test(void)
ret = pthread_attr_setschedparam(&attr, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedparam failed, ret=%d\n",
printf("sporadic_test: ERROR: pthread_attr_setschedparam failed, "
"ret=%d\n",
ret);
}
@ -298,13 +287,15 @@ void sporadic_test(void)
/* Start a sporadic thread, with the following parameters: */
printf("sporadic_test: Starting sporadic thread at priority %d\n",
printf("sporadic_test: Starting sporadic thread at priority "
"%d (hi) %d (lo)\n",
prio_high, prio_low);
ret = pthread_attr_setschedpolicy(&attr, SCHED_SPORADIC);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, ret=%d\n",
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, "
"ret=%d\n",
ret);
}
@ -319,11 +310,13 @@ void sporadic_test(void)
ret = pthread_attr_setschedparam(&attr, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setsched param failed, ret=%d\n",
printf("sporadic_test: ERROR: pthread_attr_setsched param failed, "
"ret=%d\n",
ret);
}
ret = pthread_create(&sporadic_thread, &attr, sporadic_func, (pthread_addr_t)1);
ret = pthread_create(&sporadic_thread, &attr, sporadic_func,
(pthread_addr_t)1);
if (ret != 0)
{
printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n",

294
testing/ostest/sporadic2.c Normal file
View File

@ -0,0 +1,294 @@
/****************************************************************************
* apps/testing/ostest/sporadic2.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <pthread.h>
#include <semaphore.h>
#include <sched.h>
#include <time.h>
#ifdef CONFIG_SCHED_SPORADIC
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define PRIO_LOW1 20
#define PRIO_LOW2 30
#define PRIO_HIGH1 180
#define PRIO_HIGH2 170
#define REPL_INTERVAL 100000000L
#define MAX_BUDGET (REPL_INTERVAL / 2)
#ifndef MIN
# define MIN(a,b) (((a) < (b)) ? (a) : (b))
#endif
#ifndef MAX
# define MAX(a,b) (((a) > (b)) ? (a) : (b))
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static sem_t g_sporadic_sem;
static time_t g_start_time;
static int32_t sporadic_1_ms_cnt = 0;
static int32_t sporadic_2_ms_cnt = 0;
/****************************************************************************
* Private Functions
****************************************************************************/
static void my_mdelay(unsigned int milliseconds)
{
volatile unsigned int i;
volatile unsigned int j;
for (i = 0; i < milliseconds; i++)
{
for (j = 0; j < CONFIG_BOARD_LOOPSPERMSEC; j++)
{
}
}
}
static FAR void *sporadic_func(FAR void *parameter)
{
FAR int32_t *counter = (FAR void *)parameter;
struct sched_param param;
time_t last;
time_t now;
int prio = 0;
int ret;
while (sem_wait(&g_sporadic_sem) < 0)
{
}
last = g_start_time;
for (; ; )
{
do
{
my_mdelay(1);
(*counter)++;
ret = sched_getparam(0, &param);
if (ret < 0)
{
printf("ERROR: sched_getparam failed\n");
return NULL;
}
now = time(NULL);
}
while (now == last && prio == param.sched_priority);
prio = param.sched_priority;
last = now;
}
}
static void sporadic_test_case(int32_t budget_1_ns, int32_t budget_2_ns)
{
pthread_t sporadic_thread1 = (pthread_t)0;
pthread_t sporadic_thread2 = (pthread_t)0;
#ifdef SDCC
pthread_addr_t result;
#endif
FAR void *result;
struct sched_param myparam;
struct sched_param sparam;
pthread_attr_t attr;
int ret;
#if CONFIG_SCHED_SPORADIC_MAXREPL < 5
printf("sporadic_test: CONFIG_SCHED_SPORADIC_MAXREPL is small: %d\n",
CONFIG_SCHED_SPORADIC_MAXREPL);
printf(" -- There will some errors in the replenishment interval\n");
#endif
sem_init(&g_sporadic_sem, 0, 0);
/* initilize global worker-thread millisecons-counters */
sporadic_1_ms_cnt = 0;
sporadic_2_ms_cnt = 0;
ret = sched_getparam(0, &myparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: sched_getparam failed, ret=%d\n", ret);
}
/* Temporarily set our priority to PRIO_HIGH + 2 */
sparam.sched_priority = MAX(PRIO_HIGH1, PRIO_HIGH2) + 2;
ret = sched_setparam(0, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: sched_setparam failed, ret=%d\n", ret);
}
ret = pthread_attr_init(&attr);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_init failed, ret=%d\n",
ret);
}
/* This semaphore will prevent anything from running until we are ready */
sem_init(&g_sporadic_sem, 0, 0);
/* Start a sporadic thread, with the following parameters: */
ret = pthread_attr_setschedpolicy(&attr, SCHED_SPORADIC);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, "
"ret=%d\n",
ret);
}
sparam.sched_priority = PRIO_HIGH1;
sparam.sched_ss_low_priority = PRIO_LOW1;
sparam.sched_ss_repl_period.tv_sec = 0;
sparam.sched_ss_repl_period.tv_nsec = REPL_INTERVAL;
sparam.sched_ss_init_budget.tv_sec = 0;
sparam.sched_ss_init_budget.tv_nsec = budget_1_ns;
sparam.sched_ss_max_repl = CONFIG_SCHED_SPORADIC_MAXREPL;
ret = pthread_attr_setschedparam(&attr, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setsched param failed, "
"ret=%d\n",
ret);
}
ret = pthread_create(&sporadic_thread1, &attr, sporadic_func,
&sporadic_1_ms_cnt);
if (ret != 0)
{
printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n",
ret);
}
ret = pthread_attr_setschedpolicy(&attr, SCHED_SPORADIC);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, "
"ret=%d\n",
ret);
}
sparam.sched_priority = PRIO_HIGH2;
sparam.sched_ss_low_priority = PRIO_LOW2;
sparam.sched_ss_init_budget.tv_nsec = budget_2_ns;
ret = pthread_attr_setschedparam(&attr, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setsched param failed, "
"ret=%d\n",
ret);
}
ret = pthread_create(&sporadic_thread2, &attr, sporadic_func,
(pthread_addr_t)&sporadic_2_ms_cnt);
if (ret != 0)
{
printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n",
ret);
}
ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, "
"ret=%d\n",
ret);
}
g_start_time = time(NULL);
sem_post(&g_sporadic_sem);
sem_post(&g_sporadic_sem);
sleep(100);
ret = pthread_cancel(sporadic_thread1);
pthread_join(sporadic_thread1, &result);
ret = pthread_cancel(sporadic_thread2);
pthread_join(sporadic_thread1, &result);
sem_destroy(&g_sporadic_sem);
ret = sched_setparam(0, &myparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: sched_setparam failed, ret=%d\n", ret);
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
int sporadic2_test(void)
{
int32_t budget_1_ns;
int32_t budget_2_ns = 30 * 1000000;
int i;
printf("Sporadic 1: prio high %d, low %d, repl %" PRIi32 " ns\n",
PRIO_HIGH1, PRIO_LOW1, REPL_INTERVAL);
printf("Sporadic 2: prio high %d, low %d, repl %" PRIi32 " ns\n",
PRIO_HIGH2, PRIO_LOW2, REPL_INTERVAL);
for (budget_1_ns = 0, i = 1;
budget_1_ns <= MAX_BUDGET;
budget_1_ns += 10 * 1000000, i++)
{
sporadic_test_case(budget_1_ns, budget_2_ns);
printf("%3d Sporadic 1 budget %09" PRIi32 " ns %6" PRIi32 " ms\n",
i, budget_1_ns, sporadic_1_ms_cnt);
printf(" Sporadic 2 budget %09" PRIi32 " ns %6" PRIi32 " ms\n",
budget_2_ns, sporadic_2_ms_cnt);
}
return 0;
}
#endif /* CONFIG_SCHED_SPORADIC */