/**************************************************************************** * 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 #include #include #include #include #include #include #include #include #include #ifdef CONFIG_SCHED_SPORADIC /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #define PRIO_LOW1 20 #define PRIO_LOW2 30 #define PRIO_MID 100 #define PRIO_HIGH1 180 #define PRIO_HIGH2 170 #define REPL_INTERVAL INT32_C(100000000) #define MAX_BUDGET (REPL_INTERVAL / 2) #define PRIO_HI_NDX 0 #define PRIO_LO_NDX 1 /**************************************************************************** * Private Data ****************************************************************************/ static sem_t g_sporadic_sem; static time_t g_start_time; /* These counters are incremented approximately once per millisecond by the * sporadic threads to provide a rough estimate of the time spent by each * thread in each state. */ static int32_t g_ms_cnt1[2] = { 0, 0 }; static int32_t g_ms_cnt2[2] = { 0, 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 { int ndx; /* Hog the CPU for approximately 1 MS (depends on proper * calibration of the timing loop!). */ my_mdelay(1); /* Get the current thread priority */ ret = sched_getparam(0, ¶m); if (ret < 0) { printf("ERROR: sched_getparam failed\n"); ASSERT(false); return NULL; } /* Increment the counter associated with the current priority * state. */ if (param.sched_priority > PRIO_MID) { ndx = PRIO_HI_NDX; } else { ndx = PRIO_LO_NDX; } counter[ndx]++; 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 */ g_ms_cnt1[PRIO_HI_NDX] = 0; g_ms_cnt1[PRIO_LO_NDX] = 0; g_ms_cnt2[PRIO_HI_NDX] = 0; g_ms_cnt2[PRIO_LO_NDX] = 0; ret = sched_getparam(0, &myparam); if (ret != OK) { printf("sporadic_test: ERROR: sched_getparam failed, ret=%d\n", ret); ASSERT(false); } /* 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); ASSERT(false); } ret = pthread_attr_init(&attr); if (ret != OK) { printf("sporadic_test: ERROR: pthread_attr_init failed, ret=%d\n", ret); ASSERT(false); } /* 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); ASSERT(false); } 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); ASSERT(false); } ret = pthread_create(&sporadic_thread1, &attr, sporadic_func, (pthread_addr_t)g_ms_cnt1); if (ret != 0) { printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n", ret); ASSERT(false); } ret = pthread_attr_setschedpolicy(&attr, SCHED_SPORADIC); if (ret != OK) { printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, " "ret=%d\n", ret); ASSERT(false); } 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); ASSERT(false); } ret = pthread_create(&sporadic_thread2, &attr, sporadic_func, (pthread_addr_t)g_ms_cnt2); if (ret != 0) { printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n", ret); ASSERT(false); } ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO); if (ret != OK) { printf("sporadic_test: ERROR: pthread_attr_setschedpolicy failed, " "ret=%d\n", ret); ASSERT(false); } 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); ASSERT(false); } } /**************************************************************************** * 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); printf("\n%14s%10s%7s%7s\n", "THREAD", "BUDGET", "HI MS", "LO MS"); 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 %09" PRIi32 " %6" PRIi32 " %6" PRIi32 "\n", i, budget_1_ns, g_ms_cnt1[PRIO_HI_NDX], g_ms_cnt1[PRIO_LO_NDX]); printf(" Sporadic 2 %09" PRIi32 " %6" PRIi32 " %6" PRIi32 "\n", budget_2_ns, g_ms_cnt2[PRIO_HI_NDX], g_ms_cnt2[PRIO_LO_NDX]); } return 0; } #endif /* CONFIG_SCHED_SPORADIC */