static void cpuManager_join(ObjectDesc * self, CPUStateProxy * cpuStateProxy)
{
ThreadDesc *cpuState = cpuState2thread((ObjectDesc *) cpuStateProxy);
while (cpuState->state != STATE_ZOMBIE) {
rt_task_yield();
}
}
static jint cpuManager_waitUntilBlocked(ObjectDesc * self, CPUStateProxy * cpuStateProxy)
{
ThreadDesc *cpuState = cpuState2thread((ObjectDesc *) cpuStateProxy);
while (cpuState->state != STATE_BLOCKEDUSER) {
rt_task_yield();
}
return 0;
}
INTERNAL_QUAL void rtos_task_yield(RTOS_TASK* mytask) {
if (mytask->rtaitask == 0)
return;
rt_task_yield();
}
INTERNAL_QUAL void rtos_task_yield(RTOS_TASK*) {
rt_task_yield();
}
INTERNAL_QUAL int rtos_task_create(RTOS_TASK* task,
int priority,
unsigned cpu_affinity,
const char* name,
int sched_type,
size_t stack_size,
void * (*start_routine)(void *),
ThreadInterface* obj)
{
rtos_task_check_priority(&sched_type, &priority);
XenoCookie* xcookie = (XenoCookie*)malloc( sizeof(XenoCookie) );
xcookie->data = obj;
xcookie->wrapper = start_routine;
if ( name == 0 || strlen(name) == 0)
name = "XenoThread";
task->name = strncpy( (char*)malloc( (strlen(name)+1)*sizeof(char) ), name, strlen(name)+1 );
task->sched_type = sched_type; // User requested scheduler.
int rv;
unsigned int aff = 0;
if ( cpu_affinity != 0 ) {
// calculate affinity:
for(unsigned i = 0; i < 8*sizeof(cpu_affinity); i++) {
if(cpu_affinity & (1 << i)) {
// RTHAL_NR_CPUS is defined in the kernel, not in user space. So we just limit up to 7, until Xenomai allows us to get the maximum.
if ( i > 7 ) {
const unsigned int all_cpus = ~0;
if ( cpu_affinity != all_cpus ) // suppress this warning when ~0 is provided
log(Warning) << "rtos_task_create: ignoring cpu_affinity for "<< name << " on CPU " << i << " since it's larger than RTHAL_NR_CPUS - 1 (="<< 7 <<")"<<endlog();
} else {
aff |= T_CPU(i);
}
}
}
}
if (stack_size == 0) {
log(Debug) << "Raizing default stack size to 128kb for Xenomai threads in Orocos." <<endlog();
stack_size = 128000;
}
// task, name, stack, priority, mode, fun, arg
// UGLY, how can I check in Xenomai that a name is in use before calling rt_task_spawn ???
rv = rt_task_spawn(&(task->xenotask), name, stack_size, priority, T_JOINABLE | (aff & T_CPUMASK), rtos_xeno_thread_wrapper, xcookie);
if ( rv == -EEXIST ) {
free( task->name );
task->name = strncpy( (char*)malloc( (strlen(name)+2)*sizeof(char) ), name, strlen(name)+1 );
task->name[ strlen(name) ] = '0';
task->name[ strlen(name)+1 ] = 0;
while ( rv == -EEXIST && task->name[ strlen(name) ] != '9') {
task->name[ strlen(name) ] += 1;
rv = rt_task_spawn(&(task->xenotask), task->name, stack_size, priority, T_JOINABLE | (aff & T_CPUMASK), rtos_xeno_thread_wrapper, xcookie);
}
}
if ( rv == -EEXIST ) {
log(Warning) << name << ": an object with that name is already existing in Xenomai." << endlog();
rv = rt_task_spawn(&(task->xenotask), 0, stack_size, priority, T_JOINABLE | (aff & T_CPUMASK), rtos_xeno_thread_wrapper, xcookie);
}
if ( rv != 0) {
log(Error) << name << " : CANNOT INIT Xeno TASK " << task->name <<" error code: "<< rv << endlog();
return rv;
}
rt_task_yield();
return 0;
}
int main(int argc, char* argv[])
{
unsigned long mtsk_name = nam2num("MTSK");
unsigned long btsk_name = nam2num("BTSK");
unsigned long sem_name = nam2num("SEM");
unsigned long smbx_name = nam2num("SMBX");
unsigned long rmbx_name = nam2num("RMBX");
unsigned long msg;
long long mbx_msg;
long long llmsg = 0xaaaaaaaaaaaaaaaaLL;
RT_TASK *mtsk, *rcvd_from;
SEM *sem;
MBX *smbx, *rmbx;
int pid, count;
if (!(mtsk = rt_task_init_schmod(mtsk_name, 0, 0, 0, SCHED_FIFO, 0x1))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
printf("MASTER TASK INIT: name = %lx, address = %p.\n", mtsk_name, mtsk);
printf("MASTER TASK STARTS THE ONESHOT TIMER\n");
rt_set_oneshot_mode();
start_rt_timer(nano2count(10000000));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sleep(1000000);
printf("MASTER TASK MAKES ITSELF PERIODIC WITH A PERIOD OF 1 ms\n");
rt_task_make_periodic(mtsk, rt_get_time(), nano2count(PERIOD));
rt_sleep(nano2count(1000000000));
count = PERIODIC_LOOPS;
printf("MASTER TASK LOOPS ON WAIT_PERIOD FOR %d PERIODS\n", count);
while(count--) {
printf("PERIOD %d\n", count);
rt_task_wait_period();
}
count = SLEEP_LOOPS;
printf("MASTER TASK LOOPS ON SLEEP 0.1 s FOR %d PERIODS\n", count);
while(count--) {
printf("SLEEPING %d\n", count);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK YIELDS ITSELF\n");
rt_task_yield();
printf("MASTER TASK CREATES BUDDY TASK\n");
pid = fork();
if (!pid) {
execl("./slave", "./slave", NULL);
}
printf("MASTER TASK SUSPENDS ITSELF, TO BE RESUMED BY BUDDY TASK\n");
rt_task_suspend(mtsk);
printf("MASTER TASK RESUMED BY BUDDY TASK\n");
if (!(sem = rt_sem_init(sem_name, 0))) {
printf("CANNOT CREATE SEMAPHORE %lx\n", sem_name);
exit(1);
}
printf("MASTER TASK CREATES SEM: name = %lx, address = %p.\n", sem_name, sem);
printf("MASTER TASK WAIT_IF ON SEM\n");
rt_sem_wait_if(sem);
printf("MASTER STEP BLOCKS WAITING ON SEM\n");
rt_sem_wait(sem);
printf("MASTER TASK SIGNALLED BY BUDDY TASK WAKES UP AND BLOCKS WAIT TIMED 1 s ON SEM\n");
rt_sem_wait_timed(sem, nano2count(1000000000));
printf("MASTER TASK DELETES SEM\n");
rt_sem_delete(sem);
printf("MASTER TASK BLOCKS RECEIVING FROM ANY\n");
rcvd_from = rt_receive(0, (void *)&msg);
printf("MASTER TASK RECEIVED MESSAGE %lx FROM BUDDY TASK\n", msg);
printf("MASTER TASK RPCS TO BUDDY TASK THE MESSAGE %lx\n", 0xabcdefL);
rcvd_from = rt_rpc(rcvd_from, 0xabcdef, (void *)&msg);
printf("MASTER TASK RECEIVED THE MESSAGE %lx RETURNED BY BUDDY TASK\n", msg);
//exit(1);
if (!(smbx = rt_mbx_init(smbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", smbx_name);
exit(1);
}
if (!(rmbx = rt_mbx_init(rmbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", rmbx_name);
exit(1);
}
printf("MASTER TASK CREATED TWO MAILBOXES %p %p %p %p \n", smbx, rmbx, &mtsk_name, &msg);
count = MBX_LOOPS;
while(count--) {
rt_mbx_send(smbx, &llmsg, sizeof(llmsg));
printf("%d MASTER TASK SENDS THE MESSAGE %llx MBX\n", count, llmsg);
mbx_msg = 0;
rt_mbx_receive_timed(rmbx, &mbx_msg, sizeof(mbx_msg), nano2count(MSG_DELAY));
printf("%d MASTER TASK RECEIVED THE MESSAGE %llx FROM MBX\n", count, mbx_msg);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK SENDS THE MESSAGE %lx TO BUDDY TO ALLOW ITS END\n", 0xeeeeeeeeL);
rt_send(rcvd_from, 0xeeeeeeee);
printf("MASTER TASK WAITS FOR BUDDY TASK END\n");
while (rt_get_adr(btsk_name)) {
rt_sleep(nano2count(1000000000));
}
printf("MASTER TASK STOPS THE PERIODIC TIMER\n");
stop_rt_timer();
printf("MASTER TASK DELETES MAILBOX %p\n", smbx);
rt_mbx_delete(smbx);
printf("MASTER TASK DELETES MAILBOX %p\n", rmbx);
rt_mbx_delete(rmbx);
printf("MASTER TASK DELETES ITSELF\n");
rt_task_delete(mtsk);
printf("END MASTER TASK\n");
return 0;
}
void start_domain_zero(void *arg)
{
DomainDesc *domainInit;
DomainProxy *domainProxy;
LibDesc *lib;
ObjectDesc *dm;
ArrayDesc *arr;
printk(KERN_INFO "Starting DomainZero.\n");
/* load zero lib and create portals */
lib = load(domainZero, "zero.jll");
if (lib == NULL) {
printk(KERN_ERR "Cannot load lib %s\n", "zero.jll");
return;
}
/*
* Create virtual method tables for interaction between
* Java code and C-code that implements DomainZero.
*/
zeroLib = lib->sharedLib;
init_zero_from_lib(domainZero, lib->sharedLib);
/* Domainzero's naming does now exist.
* Make it available.
*/
domainZero->initialNamingProxy = initialNamingProxy;
callClassConstructors(domainZero, lib);
lib = load(domainZero, "jdk0.jll");
if (lib == NULL) {
printk(KERN_ERR "Cannot load lib %s\n", "jdk0.jll");
return;
}
callClassConstructors(domainZero, lib);
/*********************************
* Create and start initial Java domain
*********************************/
dm = (ObjectDesc *) lookupPortal("DomainManager");
arr = (ArrayDesc *) newStringArray(domainZero, sizeof(start_libs) / sizeof(char *), start_libs);
thread_prepare_to_copy();
domainProxy =
domainManager_createDomain(dm, newString(domainZero, "Init"), NULL, NULL, newString(domainZero, "init.jll"), arr,
newString(domainZero, "jx/init/Main"), getJVMConfig()->heapBytesDom0, -1, -1, NULL, -1,
getJVMConfig()->codeBytesDom0, NULL, (ObjectDesc *) domainZero->initialNamingProxy, NULL,
GC_IMPLEMENTATION_DEFAULT, NULL);
domainInit = domainProxy->domain;
printk(KERN_INFO "DomainZero initial thread done.\n");
rt_event_signal(&jemEvents, JEM_INIT_COMPLETE);
rt_task_yield();
/* initial thread of DomainZero exits here */
}
static jint cpuManager_yield(ObjectDesc * self)
{
rt_task_yield();
return 0;
}
