Add a test for the sporadic scheduler

ChangeLog.txt

@@ -1363,3 +1363,6 @@
 	  On very fast processors, there are race conditions that make the test
 	  failure.  Need better interlocking to assure that the threads actually
 	  do start at the same time (2015-07-24).
+	* apps/examples/ostest: Add a test for the sporadic scheduler.  This
+	  test is failing as of this commit (2015-07-24).
+

examples/ostest/Makefile

@@ -63,15 +63,22 @@ endif
 
 ifneq ($(CONFIG_DISABLE_PTHREAD),y)
 CSRCS += cancel.c cond.c mutex.c sem.c semtimed.c barrier.c
+
 ifeq ($(CONFIG_FS_NAMED_SEMAPHORES),y)
 CSRCS += nsem.c
 endif
-ifneq ($(CONFIG_RR_INTERVAL),0)
+
-CSRCS += roundrobin.c
-endif # CONFIG_RR_INTERVAL
 ifeq ($(CONFIG_MUTEX_TYPES),y)
 CSRCS += rmutex.c
-endif # CONFIG_MUTEX_TYPES
+endif
+
+ifneq ($(CONFIG_RR_INTERVAL),0)
+CSRCS += roundrobin.c
+endif
+
+ifeq ($(CONFIG_SCHED_SPORADIC),y)
+CSRCS += sporadic.c
+endif
 endif # CONFIG_DISABLE_PTHREAD
 
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)

examples/ostest/ostest.h

@@ -187,6 +187,10 @@ void timer_test(void);
 
 void rr_test(void);
 
+/* sporadic.c *************************************************************/
+
+void sporadic_test(void);
+
 /* barrier.c ****************************************************************/
 
 void barrier_test(void);

examples/ostest/ostest_main.c

@@ -474,6 +474,14 @@ static int user_main(int argc, char *argv[])
       check_test_memory_usage();
 #endif
 
+#if !defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_SCHED_SPORADIC)
+      /* Verify sporadic scheduling */
+
+      printf("\nuser_main: sporadic scheduler test\n");
+      sporadic_test();
+      check_test_memory_usage();
+#endif
+
 #ifndef CONFIG_DISABLE_PTHREAD
       /* Verify pthread barriers */
 

examples/ostest/roundrobin.c

@@ -195,7 +195,7 @@ void rr_test(void)
       printf("rr_test: Set thread policy to SCHED_RR\n");
     }
 
-  /* This semaphore will prevent anything from running */
+  /* This semaphore will prevent anything from running until we are ready */
 
   sched_lock();
   sem_init(&g_rrsem, 0, 0);
@@ -231,6 +231,7 @@ void rr_test(void)
   pthread_join(get_primes2_thread, &result);
   pthread_join(get_primes1_thread, &result);
   printf("rr_test: Done\n");
+  sem_destroy(&g_rrsem);
 }
 
 #endif /* CONFIG_RR_INTERVAL */

examples/ostest/sporadic.c

@@ -0,0 +1,261 @@
+/***********************************************************************
+ * apps/examples/ostest/sporadic.c
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 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.
+ *
+ ***********************************************************************/
+
+/***********************************************************************
+ * Included Files
+ ***********************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <sched.h>
+
+#include "ostest.h"
+
+#ifdef CONFIG_SCHED_SPORADIC
+
+/***********************************************************************
+ * Pre-processor Definitions
+ ***********************************************************************/
+
+#ifndef NULL
+# define NULL (void*)0
+#endif
+
+/***********************************************************************
+ * Private Data
+ ***********************************************************************/
+
+static sem_t g_sporadic_sem;
+
+/***********************************************************************
+ * Private Functions
+ ***********************************************************************/
+
+static void *fifo_func(void *parameter)
+{
+  struct sched_param param;
+  int ret;
+  int i;
+
+  while (sem_wait(&g_sporadic_sem) < 0);
+
+  for (;;)
+    {
+      for (i = 0; i < 1000; i++)
+        {
+          ret = sched_getparam(0, &param);
+          if (ret < 0)
+            {
+              printf("ERROR: sched_getparam failed\n");
+              return NULL;
+            }
+        }
+
+      printf("FIFO: %d\n", param.sched_priority);
+    }
+}
+
+static void *sporadic_func(void *parameter)
+{
+  struct sched_param param;
+  int prio = 0;
+  int ret;
+  int i;
+
+  while (sem_wait(&g_sporadic_sem) < 0);
+
+  for (;;)
+    {
+      for (i = 0; i < 1000; i++)
+        {
+          ret = sched_getparam(0, &param);
+          if (ret < 0)
+            {
+              printf("ERROR: sched_getparam failed\n");
+              return NULL;
+            }
+
+          if (prio != param.sched_priority)
+            {
+              break;
+            }
+        }
+
+      prio = param.sched_priority;
+      printf("SPORADIC: %d\n", prio);
+    }
+}
+
+/***********************************************************************
+ * Public Functions
+ ***********************************************************************/
+
+void sporadic_test(void)
+{
+  pthread_t sporadic_thread = (pthread_t)0;
+  pthread_t fifo_thread = (pthread_t)0;
+#ifdef SDCC
+  pthread_addr_t result;
+#endif
+  FAR void *result;
+  struct sched_param myparam;
+  struct sched_param sparam;
+  int prio_min;
+  int prio_max;
+  int prio_low;
+  int prio_mid;
+  int prio_high;
+  pthread_attr_t attr;
+  int ret;
+
+  printf("sporadic_test: Initializing semaphore to 0\n");
+  sem_init(&g_sporadic_sem, 0, 0);
+
+  prio_min  = sched_get_priority_min(SCHED_FIFO);
+  prio_max  = sched_get_priority_max(SCHED_FIFO);
+
+  prio_low  = prio_min + ((prio_max - prio_min) >> 2);
+  prio_mid  = (prio_min + prio_max) >> 1;
+  prio_high = prio_max - ((prio_max - prio_min) >> 2);
+
+  /* Temporarily set our priority to prio_high + 1 */
+
+  ret = sched_getparam(0, &myparam);
+  if (ret != OK)
+    {
+      printf("sporadic_test: ERROR: sched_getparam failed, ret=%d\n",  ret);
+    }
+
+  sparam.sched_priority = prio_high+1;
+  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 */
+
+  sched_lock();
+  sem_init(&g_sporadic_sem, 0, 0);
+
+  /* Start a FIFO thread at the middle priority */
+
+  printf("sporadic_test: Starting FIFO thread at priority %d\n", prio_mid);
+
+  ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
+  if (ret != OK)
+    {
+      printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, ret=%d\n",  ret);
+    }
+
+  sparam.sched_priority = prio_mid;
+  ret = pthread_attr_setschedparam(&attr, &sparam);
+  if (ret != OK)
+    {
+      printf("sporadic_test: ERROR: pthread_attr_setschedparam failed, ret=%d\n",  ret);
+    }
+
+  ret = pthread_create(&fifo_thread, &attr, fifo_func, NULL);
+  if (ret != 0)
+    {
+      printf("sporadic_test: ERROR: FIFO thread creation failed: %d\n",  ret);
+    }
+
+  /* Start a sporadic thread, with the following parameters: */
+
+  printf("sporadic_test: Starting sporadic thread at priority %d/\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",  ret);
+    }
+
+  sparam.sched_priority               = prio_high;
+  sparam.sched_ss_low_priority        = prio_low;
+  sparam.sched_ss_repl_period.tv_sec  = 4;
+  sparam.sched_ss_repl_period.tv_nsec = 0;
+  sparam.sched_ss_init_budget.tv_sec  = 2;
+  sparam.sched_ss_max_repl            = 5;
+
+  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_thread, &attr, sporadic_func, (pthread_addr_t)1);
+  if (ret != 0)
+    {
+      printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n",  ret);
+    }
+
+  sem_post(&g_sporadic_sem);
+  sem_post(&g_sporadic_sem);
+
+  /* Wait a while then kill the FIFO thread */
+
+  sleep(12);
+  ret = pthread_cancel(fifo_thread);
+  pthread_join(fifo_thread, &result);
+
+  /* Wait a bit longer */
+
+  sleep(12);
+  ret = pthread_cancel(sporadic_thread);
+  pthread_join(sporadic_thread, &result);
+  sched_unlock();
+
+  printf("sporadic_test: Done\n");
+  sem_destroy(&g_sporadic_sem);
+
+  ret = sched_setparam(0, &myparam);
+  if (ret != OK)
+    {
+      printf("sporadic_test: ERROR: sched_setparam failed, ret=%d\n",  ret);
+    }
+}
+
+#endif /* CONFIG_SCHED_SPORADIC */