int set_sched_dl(long period, long exec)
{
pid_t pid;
struct sched_attr dl_attr;
struct timespec dl_period, dl_exec;
int ret;
unsigned int flags = 0;
pid = getpid();
dl_period = usec_to_timespec(period);
dl_exec = usec_to_timespec(exec);
dl_attr.size = sizeof(dl_attr);
dl_attr.sched_flags = 0;
dl_attr.sched_policy = SCHED_DEADLINE;
dl_attr.sched_runtime = timespec_to_nsec(&dl_exec) + (timespec_to_nsec(&dl_exec) / 100) * 5;
dl_attr.sched_deadline = timespec_to_nsec(&dl_period);
dl_attr.sched_period = timespec_to_nsec(&dl_period);
ret = sched_setattr(pid, &dl_attr, flags);
if (ret != 0)
{
perror("sched_setattr");
}
return ret;
}
void bye(void)
{
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &task_rst.t_whole_thread_finish);
task_rst.t_whole_thread_run = timespec_sub(&task_rst.t_whole_thread_finish, &task_rst.t_whole_thread_start);
printf("thread_total= %lld ns\t%3.2f%%\t%3.2f%%\nthread_run= %lld ns\t%3.2f%%\t%3.2f%%\n===end===\n",
timespec_to_nsec(&task_rst.t_whole_thread_finish),
(double)timespec_to_nsec(&task_rst.t_whole_thread_finish) / (double)timespec_to_nsec(&task_rst.dl_budget) / (double)task_rst.correct_cnt * 100.0,
(double)timespec_to_nsec(&task_rst.t_whole_thread_finish) / (double)timespec_to_nsec(&task_rst.dl_period) / (double)task_rst.correct_cnt * 100.0,
timespec_to_nsec(&task_rst.t_whole_thread_run),
(double)timespec_to_nsec(&task_rst.t_whole_thread_run) / (double)timespec_to_nsec(&task_rst.dl_budget) / (double)task_rst.correct_cnt * 100.0,
(double)timespec_to_nsec(&task_rst.t_whole_thread_run) / (double)timespec_to_nsec(&task_rst.dl_period) / (double)task_rst.correct_cnt * 100.0);
}
static inline void process_log(task_data_t *p_task, task_result_t *p_rst)
{
static int first = 1;
int64_t i_offset, i_diff, i_slack, i_thread_run, i_thread_remain;
int after_middle;
i_offset = timespec_to_nsec(&p_task->t_offset);
i_diff = timespec_to_nsec(&p_task->t_diff);
i_slack = timespec_to_nsec(&p_task->t_slack);
i_thread_run = timespec_to_nsec(&p_task->t_thread_run);
i_thread_remain = timespec_to_nsec(&p_task->t_thread_remain);
after_middle = timespec_lower(&p_rst->t_middle, &p_task->t_begin);
++p_rst->cnt;
if (after_middle)
{
++p_rst->cnt_after_middle;
}
if (i_thread_remain > 0)
{
++p_rst->lack_cnt;
}
if (i_slack < 0)
{
++p_rst->miss_cnt;
if (after_middle)
{
++p_rst->miss_cnt_after_middle;
}
}
p_rst->i_whole_thread_runtime += i_thread_run;
if (first)
{
printf("%12s\t%12s\t%12s\t%12s\t%12s\n", "offset", "diff", "slack", "exec_time", "unfinished");
first = 0;
}
if (g_log)
{
printf("%12lld\t%12lld\t%12lld\t%12lld\t%12lld\n",
i_offset,
i_diff,
i_slack,
i_thread_run,
i_thread_remain);
}
}
static uint64_t
perftime(void)
{
struct timespec ts;
int r;
r = clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &ts);
tor_assert(r == 0);
return timespec_to_nsec(&ts) - nanostart;
}
static void
reset_perftime(void)
{
struct timespec ts;
int r;
r = clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &ts);
tor_assert(r == 0);
nanostart = timespec_to_nsec(&ts);
}
static void accel_data_report_worker(void *arg)
{
struct sensor_accel_info *info;
struct report_info *rinfo;
struct report_info_data *rinfo_data;
struct sensor_event_data *event_data;
struct timespec ts;
uint16_t payload_size;
payload_size = (PRESSURE_READING_NUM * sizeof(struct sensor_event_data))
+ (REPORTING_SENSORS * sizeof(struct report_info));
info = arg;
if (info->callback) {
rinfo_data = malloc(sizeof(struct report_info_data) + payload_size);
if (!rinfo_data)
goto out;
rinfo_data->num_sensors_reporting = REPORTING_SENSORS;
rinfo = rinfo_data->reportinfo;
rinfo->id = info->sensor_id;
rinfo->flags = 0;
event_data = (struct sensor_event_data *)&rinfo->data_payload[0];
up_rtc_gettime(&ts);
rinfo->reference_time = timespec_to_nsec(&ts);
gb_debug("[%u.%03u]\n", ts.tv_sec, (ts.tv_nsec / 1000000));
#ifdef BATCH_PROCESS_ENABLED
/*
* Batch sensor data values and its time_deltas
* until max fifo event count
*/
#else
/* Single sensor event data */
rinfo->readings = PRESSURE_READING_NUM;
event_data->time_delta = 0;
event_data->data_value[0] = data++;
event_data->data_value[1] = data++;
event_data->data_value[2] = data++;
#endif
gb_debug("report sensor: %d\n", rinfo->id);
info->callback(info->sensor_id, rinfo_data, payload_size);
free(rinfo_data);
}
out:
/* cancel any work and reset ourselves */
if (!work_available(&info->data_report_work))
work_cancel(LPWORK, &info->data_report_work);
/* if not already scheduled, schedule start */
if (work_available(&info->data_report_work))
work_queue(LPWORK, &info->data_report_work, accel_data_report_worker, info, MSEC2TICK(1200));
}
static int sensor_accel_op_flush(struct device *dev, uint8_t id)
{
struct sensor_event_data *event_data;
struct sensor_accel_info *info;
struct report_info_data *rinfo_data;
struct report_info *rinfo;
struct timespec ts;
uint16_t payload_size;
payload_size = (PRESSURE_READING_NUM * sizeof(struct sensor_event_data))
+ (REPORTING_SENSORS * sizeof(struct report_info));
gb_debug("%s:\n", __func__);
if (!dev || !device_get_private(dev)) {
return -EINVAL;
}
info = device_get_private(dev);
if (info->callback) {
rinfo_data = malloc(sizeof(struct report_info) + payload_size);
if (!rinfo_data)
return -ENOMEM;
rinfo_data->num_sensors_reporting = REPORTING_SENSORS;
rinfo = rinfo_data->reportinfo;
rinfo->id = info->sensor_id;
event_data = (struct sensor_event_data *)&rinfo->data_payload[0];
up_rtc_gettime(&ts);
rinfo->reference_time = timespec_to_nsec(&ts);
gb_debug("[%u.%03u]\n", ts.tv_sec, (ts.tv_nsec / 1000000));
rinfo->flags = REPORT_INFO_FLAG_FLUSHING | REPORT_INFO_FLAG_FLUSH_COMPLETE;
#ifdef BATCH_PROCESS_ENABLED
/*
* Batch sensor data values and its time_deltas
* until max fifo event count
*/
#else
/* Single sensor event data */
rinfo->readings = PRESSURE_READING_NUM;
event_data->time_delta = 0;
event_data->data_value[0] = data++;
event_data->data_value[1] = data++;
event_data->data_value[2] = data++;
#endif
info->callback(info->sensor_id, rinfo_data, payload_size);
free(rinfo_data);
}
return OK;
}
void print_result_exit(struct timespec *t_now, task_data_t *p_task, task_result_t *p_rst)
{
struct timespec t_duration;
int64_t i_duration;
t_duration = timespec_sub(t_now, &p_rst->t_exit);
i_duration = timespec_to_nsec(&t_duration) + (int64_t)duration * 1E9;
p_rst->i_whole_duration = i_duration;
printf("===begin===\nstart=\t%lld ns\nend=\t%lld ns\nduration=\t%lld ns\ncnt=\t%d\ncorrect_cnt=\t%d\nmiss_cnt=\t%d\t%3.2f%%\nmiss_cnt_after_middle=\t%d\t%3.2f%%\nthread_runtime=\t%lld ns\ncorrect_thread_runtime=\t%lld ns\navg_thread_runtime=\t%lldns\t%3.2f%%\t%3.2f%%\t%3.2f%%\n",
timespec_to_nsec(&p_rst->t_exit) - (int64_t)(duration * 1E9),
timespec_to_nsec(t_now),
i_duration,
p_rst->cnt,
p_rst->correct_cnt,//(int64_t)(duration * 1E9) / timespec_to_nsec(&p_rst->dl_period),
p_rst->miss_cnt,
(double)p_rst->miss_cnt/(double)p_rst->cnt * 100.0,
p_rst->miss_cnt_after_middle,
(double)p_rst->miss_cnt_after_middle/(double)p_rst->cnt_after_middle * 100.0,
p_rst->i_whole_thread_runtime,
p_rst->i_corrent_whole_thread_runtime,
p_rst->i_whole_thread_runtime / p_rst->cnt,
(double)p_rst->i_whole_thread_runtime / p_rst->cnt / timespec_to_nsec(&p_rst->dl_exec) * 100.0,
(double)p_rst->i_whole_thread_runtime / p_rst->cnt / timespec_to_nsec(&p_rst->dl_budget) * 100.0,
(double)p_rst->i_whole_thread_runtime / p_rst->cnt / timespec_to_nsec(&p_rst->dl_period) * 100.0);
exit(0);
}
void signal_handler(int signum)
{
switch(signum)
{
case SIGALRM:
{
struct timespec t_alarm;
clock_gettime(CLOCK_REALTIME, &t_alarm);
printf("got SIGALARM at %lld ns\n", timespec_to_nsec(&t_alarm));
break;
}
case SIGINT:
{
struct timespec t_now;
clock_gettime(CLOCK_REALTIME, &t_now);
print_result_exit(&t_now, &task, &task_rst);
break;
}
default:
{
break;
}
}
}
int main(int argc, char* argv[])
{
pid_t pid;
long long period, budget, exec;
char* token;
struct sched_attr dl_attr;
int ret;
unsigned int flags = 0;
struct sigaction sa;
struct itimerval timer;
memset(&task, 0, sizeof(task));
memset(&task_rst, 0, sizeof(task_rst));
ret = atexit(bye);
if (ret != 0)
{
perror("atexit");
exit(1);
}
if (argc >= 3)
{
pid = getpid();
printf("%d\t===pid===\n", (int)pid);
printf("lock pages in memory\n");
ret = mlockall(MCL_CURRENT | MCL_FUTURE);
if (ret < 0)
{
perror("mlockall");
exit(1);
}
token = strtok(argv[1], ":");
period = strtoll(token, NULL, 10);
token = strtok(NULL, ":");
budget = strtoll(token, NULL, 10);
token = strtok(NULL, ":");
exec = strtoll(token, NULL, 10);
printf("period = %lld ns, budget = %lld ns, exec = %lld ns\n", period, budget, exec);
if (exec == 0)
{
pure_overhead = 1;
}
else
{
pure_overhead = 0;
}
//duration is a must
duration = atoi(argv[2]);
clock_gettime(CLOCK_REALTIME, &task_rst.t_exit);
memcpy((void*)&task_rst.t_middle, (void*)&task_rst.t_exit, sizeof(task_rst.t_middle));
task_rst.t_exit.tv_sec = task_rst.t_exit.tv_sec + duration;
task_rst.t_middle.tv_sec = task_rst.t_middle.tv_sec + duration / 2;//set halfway timestamp
if (argc >= 4)
{
g_log = atoi(argv[3]);
}
if (argc >= 5)
{
g_scheduler = atoi(argv[4]);
}
//set deadline scheduling
pid = 0;
assert(period >= budget && budget >= exec);
// task_rst.dl_period = usec_to_timespec(period);
// task_rst.dl_budget = usec_to_timespec(budget);
// task_rst.dl_exec = usec_to_timespec(exec);
task_rst.dl_period = nsec_to_timespec((unsigned long long)period);
task_rst.dl_budget = nsec_to_timespec((unsigned long long)budget);
task_rst.dl_exec = nsec_to_timespec((unsigned long long)exec);
dl_attr.size = sizeof(dl_attr);
dl_attr.sched_flags = 0;
dl_attr.sched_policy = SCHED_DEADLINE;
dl_attr.sched_priority = 0;
dl_attr.sched_runtime = timespec_to_nsec(&task_rst.dl_budget);
dl_attr.sched_deadline = timespec_to_nsec(&task_rst.dl_period);
dl_attr.sched_period = timespec_to_nsec(&task_rst.dl_period);
task_rst.correct_cnt =(int)((int64_t)(duration * 1E9) / timespec_to_nsec(&task_rst.dl_period));
task_rst.i_corrent_whole_thread_runtime = (int64_t)task_rst.correct_cnt * timespec_to_nsec(&task_rst.dl_exec);
if (g_scheduler == 0)
{
printf("using sched_deadline\n");
ret = sched_setattr(pid, &dl_attr, flags);
if (ret != 0)
{
perror("sched_setattr");
exit(1);
}
}
else if (g_scheduler == 1)
{
printf("using cfs\n");
}
else
{
printf("not implemented\n");
exit(1);
}
#if 0
memset(&sa, 0, sizeof(sa));
sa.sa_handler = &signal_handler;
sigaction(SIGALRM, &sa, NULL);
sigaction(SIGINT, &sa, NULL);
timer.it_value.tv_sec = dl_period.tv_sec;
timer.it_value.tv_usec = dl_period.tv_nsec / 1000;
timer.it_interval.tv_sec = dl_period.tv_sec;
timer.it_interval.tv_usec = dl_period.tv_nsec / 1000;
setitimer(ITIMER_REAL, &timer, NULL);
#endif
struct timespec t_exec;
clock_gettime(CLOCK_REALTIME, &task.t_period);
task.t_period = timespec_add(&task.t_period, &task_rst.dl_period);//start from next period
task.t_deadline = timespec_add(&task.t_period, &task_rst.dl_period);
clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &task.t_period, NULL);
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &task_rst.t_whole_thread_start);
while(1)
{
clock_gettime(CLOCK_REALTIME, &task.t_begin);
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &task.t_thread_start);
t_exec = timespec_add(&task.t_thread_start, &task_rst.dl_exec);
if (!pure_overhead)
{
busy_wait(&t_exec, &task.t_deadline);
}
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &task.t_thread_finish);
clock_gettime(CLOCK_REALTIME, &task.t_end);
task.t_thread_run = timespec_sub(&task.t_thread_finish, &task.t_thread_start);
task.t_thread_remain = timespec_sub(&t_exec, &task.t_thread_finish);
task.t_diff = timespec_sub(&task.t_end, &task.t_begin);
task.t_slack = timespec_sub(&task.t_deadline, &task.t_end);
task.t_offset = timespec_sub(&task.t_begin, &task.t_period);
process_log(&task, &task_rst);
task.t_period = timespec_add(&task.t_period, &task_rst.dl_period);
task.t_deadline = timespec_add(&task.t_deadline, &task_rst.dl_period);
//check total test time
struct timespec t_now;
clock_gettime(CLOCK_REALTIME, &t_now);
if (duration && timespec_lower(&task_rst.t_exit, &t_now))
{
print_result_exit(&t_now, &task, &task_rst);
}
clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &task.t_period, NULL);
}
}
else
{
printf("usage: rt_task <period>:<budget>:<exec> <duration> [<log_switch>] [<scheduler>]\n");
}
return 0;
}
int64_t nano_time(){
return timespec_to_nsec(get_current_time());
}
void *thread_body(void *arg) {
int ret;
int nperiods;
struct sched_param param;
timing_point_t *timings;
pid_t tid;
struct sched_attr attr;
unsigned int flags = 0;
struct timespec t, t_next;
timing_point_t tmp_timing;
timing_point_t *curr_timing;
unsigned long t_start_usec;
int i = 0;
thread_data_t *data = (thread_data_t*) arg;
/* set thread affinity */
if (data->cpuset != NULL) {
log_notice("[%d] setting cpu affinity to CPU(s) %s",
data->ind, data->cpuset_str);
ret = pthread_setaffinity_np(pthread_self(),
sizeof(cpu_set_t), data->cpuset);
if (ret < 0) {
errno = ret;
perror("pthread_setaffinity_np");
exit(EXIT_FAILURE);
}
}
/* set scheduling policy and print pretty info on stdout */
log_notice("[%d] Using %s policy:", data->ind, data->sched_policy_descr);
switch (data->sched_policy) {
case rr:
case fifo:
fprintf(data->log_handler, "# Policy : %s\n",
(data->sched_policy == rr ? "SCHED_RR" : "SCHED_FIFO"));
param.sched_priority = data->sched_prio;
ret = pthread_setschedparam(pthread_self(),
data->sched_policy, ¶m);
if (ret != 0) {
errno = ret;
perror("pthread_setschedparam");
exit(EXIT_FAILURE);
}
log_notice("[%d] starting thread with period: %" PRIu64
", exec: %" PRIu64 ",""deadline: %" PRIu64 ", priority: %d",
data->ind,
timespec_to_usec(&data->period),
timespec_to_usec(&data->min_et),
timespec_to_usec(&data->deadline),
data->sched_prio
);
break;
case other:
fprintf(data->log_handler, "# Policy : SCHED_OTHER\n");
log_notice("[%d] starting thread with period: %" PRIu64
", exec: %" PRIu64 ",""deadline: %" PRIu64 "", data->ind,
timespec_to_usec(&data->period),
timespec_to_usec(&data->min_et),
timespec_to_usec(&data->deadline)
);
data->lock_pages = 0; /* forced off for SCHED_OTHER */
break;
case deadline:
fprintf(data->log_handler, "# Policy : SCHED_DEADLINE\n");
tid = gettid();
attr.size = sizeof(attr);
attr.sched_flags = data->sched_flags;
if (data->sched_flags && SCHED_FLAG_SOFT_RSV)
fprintf(data->log_handler, "# Type : SOFT_RSV\n");
else
fprintf(data->log_handler, "# Type : HARD_RSV\n");
attr.sched_policy = SCHED_DEADLINE;
attr.sched_priority = 0;
attr.sched_runtime = timespec_to_nsec(&data->max_et) +
(timespec_to_nsec(&data->max_et) /100) * BUDGET_OVERP;
attr.sched_deadline = timespec_to_nsec(&data->period);
attr.sched_period = timespec_to_nsec(&data->period);
break;
default:
log_error("Unknown scheduling policy %d",
data->sched_policy);
exit(EXIT_FAILURE);
}
if (data->lock_pages == 1) {
log_notice("[%d] Locking pages in memory", data->ind);
ret = mlockall(MCL_CURRENT | MCL_FUTURE);
if (ret < 0) {
errno = ret;
perror("mlockall");
exit(EXIT_FAILURE);
}
}
/* if we know the duration we can calculate how many periods we will
* do at most, and the log to memory, instead of logging to file.
*/
timings = NULL;
if (data->duration > 0) {
nperiods = (int) ceil( (data->duration * 10e6) /
(double) timespec_to_usec(&data->period));
timings = malloc ( nperiods * sizeof(timing_point_t));
}
fprintf(data->log_handler, "#idx\tperiod\tmin_et\tmax_et\trel_st\tstart"
"\t\tend\t\tdeadline\tdur.\tslack\tresp_t"
"\tBudget\tUsed Budget\n");
if (data->ind == 0) {
clock_gettime(CLOCK_MONOTONIC, &t_zero);
#ifdef TRACE_SETS_ZERO_TIME
if (opts.ftrace)
log_ftrace(ft_data.marker_fd,
"[%d] sets zero time",
data->ind);
#endif
}
pthread_barrier_wait(&threads_barrier);
/*
* Set the task to SCHED_DEADLINE as far as possible touching its
* budget as little as possible for the first iteration.
*/
if (data->sched_policy == SCHED_DEADLINE) {
ret = sched_setattr(tid, &attr, flags);
if (ret != 0) {
log_critical("[%d] sched_setattr "
"returned %d", data->ind, ret);
errno = ret;
perror("sched_setattr");
exit(EXIT_FAILURE);
}
}
t = t_zero;
t_next = msec_to_timespec(1000LL);
t_next = timespec_add(&t, &t_next);
clock_nanosleep(CLOCK_MONOTONIC,
TIMER_ABSTIME,
&t_next,
NULL);
data->deadline = timespec_add(&t_next, &data->deadline);
while (continue_running) {
int pn;
struct timespec t_start, t_end, t_diff, t_slack, t_resp;
/* Thread numeration reported starts with 1 */
#ifdef TRACE_BEGINS_LOOP
if (opts.ftrace)
log_ftrace(ft_data.marker_fd, "[%d] begins job %d", data->ind+1, i);
#endif
clock_gettime(CLOCK_MONOTONIC, &t_start);
if (data->nphases == 0) {
compute(data->ind, &data->min_et, NULL, 0);
} else {
for (pn = 0; pn < data->nphases; pn++) {
log_notice("[%d] phase %d start", data->ind+1, pn);
exec_phase(data, pn);
log_notice("[%d] phase %d end", data->ind+1, pn);
}
}
clock_gettime(CLOCK_MONOTONIC, &t_end);
t_diff = timespec_sub(&t_end, &t_start);
t_slack = timespec_sub(&data->deadline, &t_end);
t_resp = timespec_sub(&t_end, &t_next);
t_start_usec = timespec_to_usec(&t_start);
if (i < nperiods) {
if (timings)
curr_timing = &timings[i];
else
curr_timing = &tmp_timing;
curr_timing->ind = data->ind;
curr_timing->period = timespec_to_usec(&data->period);
curr_timing->min_et = timespec_to_usec(&data->min_et);
curr_timing->max_et = timespec_to_usec(&data->max_et);
curr_timing->rel_start_time =
t_start_usec - timespec_to_usec(&data->main_app_start);
curr_timing->abs_start_time = t_start_usec;
curr_timing->end_time = timespec_to_usec(&t_end);
curr_timing->deadline = timespec_to_usec(&data->deadline);
curr_timing->duration = timespec_to_usec(&t_diff);
curr_timing->slack = timespec_to_lusec(&t_slack);
curr_timing->resp_time = timespec_to_usec(&t_resp);
}
if (!timings)
log_timing(data->log_handler, curr_timing);
t_next = timespec_add(&t_next, &data->period);
data->deadline = timespec_add(&data->deadline, &data->period);
#ifdef TRACE_END_LOOP
if (opts.ftrace)
log_ftrace(ft_data.marker_fd, "[%d] end loop %d", data->ind, i);
#endif
if (curr_timing->slack < 0)
log_notice("[%d] DEADLINE MISS !!!", data->ind+1);
i++;
}
free(timings);
}