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nuttx-apps/examples/ostest/sporadic.c

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/***********************************************************************
* 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 <time.h>
#include "ostest.h"
#ifdef CONFIG_SCHED_SPORADIC
/***********************************************************************
* Pre-processor Definitions
***********************************************************************/
#ifndef NULL
# define NULL (void*)0
#endif
#ifndef MIN
# define MIN(a,b) (((a) < (b)) ? (a) : (b))
#endif
/***********************************************************************
* Private Data
***********************************************************************/
static sem_t g_sporadic_sem;
static time_t g_start_time;
/***********************************************************************
* Private Functions
***********************************************************************/
static void *nuisance_func(void *parameter)
{
while (sem_wait(&g_sporadic_sem) < 0);
for (;;)
{
usleep(500*1000);
}
return NULL;
}
static void *fifo_func(void *parameter)
{
struct sched_param param;
time_t last;
time_t now;
int ret;
while (sem_wait(&g_sporadic_sem) < 0);
last = g_start_time;
for (;;)
{
do
{
sched_lock(); /* Just to exercise more logic */
ret = sched_getparam(0, &param);
if (ret < 0)
{
printf("ERROR: sched_getparam failed\n");
return NULL;
}
now = time(NULL);
sched_unlock();
}
while (now == last);
sched_lock(); /* Just to exercise more logic */
printf("%4lu FIFO: %d\n",
(unsigned long)(now-g_start_time), param.sched_priority);
last = now;
sched_unlock();
}
}
static void *sporadic_func(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
{
sched_lock(); /* Just to exercise more logic */
ret = sched_getparam(0, &param);
if (ret < 0)
{
printf("ERROR: sched_getparam failed\n");
return NULL;
}
now = time(NULL);
sched_unlock();
}
while (now == last && prio == param.sched_priority);
sched_lock(); /* Just to exercise more logic */
printf("%4lu SPORADIC: %d->%d\n",
(unsigned long)(now-g_start_time), prio, param.sched_priority);
prio = param.sched_priority;
last = now;
sched_unlock();
}
}
/***********************************************************************
* Public Functions
***********************************************************************/
void sporadic_test(void)
{
pthread_t nuisance_thread = (pthread_t)0;
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 + 2 */
ret = sched_getparam(0, &myparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: sched_getparam failed, ret=%d\n", ret);
}
sparam.sched_priority = prio_high + 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 */
sched_lock();
sem_init(&g_sporadic_sem, 0, 0);
/* Start a FIFO thread at the highest priority (prio_max + 1) */
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_high + 1;
ret = pthread_attr_setschedparam(&attr, &sparam);
if (ret != OK)
{
printf("sporadic_test: ERROR: pthread_attr_setschedparam failed, ret=%d\n",
ret);
}
ret = pthread_create(&nuisance_thread, &attr, nuisance_func, NULL);
if (ret != 0)
{
printf("sporadic_test: ERROR: FIFO thread creation failed: %d\n",
ret);
}
/* Start a FIFO thread at the middle priority */
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_init_budget.tv_nsec = 0;
sparam.sched_ss_max_repl = MIN(5, 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_thread, &attr, sporadic_func, (pthread_addr_t)1);
if (ret != 0)
{
printf("sporadic_test: ERROR: sporadic thread creation failed: %d\n",
ret);
}
g_start_time = time(NULL);
sem_post(&g_sporadic_sem);
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 then kill the nuisance thread */
sleep(8);
ret = pthread_cancel(nuisance_thread);
pthread_join(nuisance_thread, &result);
/* Wait a bit longer then kill the sporadic thread */
sleep(8);
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 */
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