/*! Timer interrupt for edf */
static void edf_period_timer ( void *p )
{
kthread_t *kthread = p, *test;
ASSERT ( kthread );
test = kthreadq_remove ( &ksched_edf.params.edf.wait, kthread );
LOG( DEBUG, "%x %x [Period alarm]", kthread, test );
if( test == kthread )
{
if ( !edf_check_deadline ( kthread ) )
{
//LOG( DEBUG, "%x [Waked, moved to edf.ready]", kthread );
kthread_enqueue ( kthread, &ksched_edf.params.edf.ready );
if ( k_edf_schedule () )
kthreads_schedule ();
}
}
else {
/*
* thread is not in edf.wait queue, but might be running or its
* blocked - it is probable (sure?) it missed deadline
*/
LOG( DEBUG, "%x [Not in edf.wait. Missed deadline?]", kthread );
}
}
/*! Timer interrupt for edf */
static void edf_period_alarm ( sigval_t sigev_value )
{
kthread_t *kthread = sigev_value.sival_ptr, *test;
ksched_t *ksched;
ASSERT ( kthread );
ksched = ksched2_get ( kthread_get_sched_policy (kthread) );
test = kthreadq_remove ( &ksched->params.edf.wait, kthread );
EDF_LOG ( "%x %x [Period alarm]", kthread, test );
if( test == kthread )
{
if ( !edf_check_deadline ( kthread ) )
{
EDF_LOG ( "%x [Waked, moved to edf.ready]", kthread );
kthread_enqueue ( kthread, &ksched->params.edf.ready );
edf_schedule (ksched);
}
/* else => missed deadline -- handle with deadline timer */
}
else {
/*
* thread is not in edf.wait queue, but might be running or its
* blocked - it is probable it missed its deadline, but that
* will be handled with different timer
*/
EDF_LOG ( "%x [Not in edf.wait. Missed deadline?]", kthread );
}
}
static void edf_deadline_timer ( void *p )
{
alarm_t alarm;
kthread_t *kthread = p, *test;
kthread_sched_data_t *tsched = kthread_get_sched_param ( kthread );
ASSERT ( kthread );
test = kthreadq_remove ( &ksched_edf.params.edf.wait, kthread );
LOG( DEBUG, "%x %x [Deadline alarm]", kthread, test );
if( test == kthread )
{
if ( edf_check_deadline ( kthread ) )
{
LOG( DEBUG, "%x [Waked, but too late]", kthread );
kthread_set_syscall_retval ( kthread, -1 );
kthread_move_to_ready ( kthread, LAST );
if ( tsched->params.edf.flags & EDF_TERMINATE )
{
LOG( DEBUG, "%x [EDF_TERMINATE]", kthread );
tsched = kthread_get_sched_param ( kthread );
k_alarm_remove ( tsched->params.edf.edf_period_alarm );
k_alarm_remove ( tsched->params.edf.edf_deadline_alarm );
tsched->params.edf.edf_period_alarm = NULL;
kthread_cancel ( kthread, -E_DEADLINE );
}
kthreads_schedule ();
}
}
else {
/*
* thread is not in edf.wait queue, but might be running or its
* blocked - it is probable (sure?) it missed deadline
*/
LOG( DEBUG, "%x [Not in edf.wait. Missed deadline?]", kthread );
if ( edf_check_deadline ( kthread ) )
{
/* what to do if its missed? kill thread? */
tsched = kthread_get_sched_param ( kthread );
if ( tsched->params.edf.flags & EDF_TERMINATE )
{
LOG( DEBUG, "%x [EDF_TERMINATE]", kthread );
k_alarm_remove ( tsched->params.edf.edf_period_alarm );
k_alarm_remove ( tsched->params.edf.edf_deadline_alarm );
tsched->params.edf.edf_period_alarm = NULL;
kthread_cancel ( kthread, -E_DEADLINE );
}
else if ( tsched->params.edf.flags & EDF_CONTINUE )
{
/* continue as deadline is not missed */
LOG( DEBUG, "%x [EDF_CONTINUE]", kthread );
}
else if ( tsched->params.edf.flags & EDF_SKIP )
{
/* skip deadline */
/* set times for next period */
LOG( DEBUG, "%x [EDF_SKIP]", kthread );
time_add ( &tsched->params.edf.next_run,
&tsched->params.edf.period );
tsched->params.edf.active_deadline = tsched->params.edf.next_run;
time_add ( &tsched->params.edf.active_deadline,
&tsched->params.edf.relative_deadline );
if ( kthread == ksched_edf.params.edf.active )
ksched_edf.params.edf.active = NULL;
alarm.action = edf_deadline_timer;
alarm.param = kthread;
alarm.flags = 0;
alarm.period.sec = alarm.period.nsec = 0;
alarm.exp_time = tsched->params.edf.active_deadline;
k_alarm_set ( tsched->params.edf.edf_deadline_alarm, &alarm );
alarm.action = edf_period_timer;
alarm.param = kthread;
alarm.flags = ALARM_PERIODIC;
alarm.period = tsched->params.edf.period;
alarm.exp_time = tsched->params.edf.next_run;
k_alarm_set ( tsched->params.edf.edf_period_alarm, &alarm );
kthread_enqueue ( kthread, &ksched_edf.params.edf.ready );
kthreads_schedule (); /* will call edf_schedule() */
}
}
}
}
static int edf_set_thread_sched_parameters (kthread_t *kthread, sched_t *params)
{
time_t now;
alarm_t alarm;
kthread_sched_data_t *tsched = kthread_get_sched_param ( kthread );
ksched_t *gsched = ksched_get ( SCHED_EDF );
if ( gsched->params.edf.active == kthread )
gsched->params.edf.active = NULL;
k_get_time ( &now );
if ( params->edf.flags & EDF_SET )
{
/*LOG( DEBUG, "%x [SET]", kthread ); */
tsched->params.edf.period = params->edf.period;
tsched->params.edf.relative_deadline = params->edf.deadline;
tsched->params.edf.flags = params->edf.flags;
/* set periodic alarm */
tsched->params.edf.next_run = now;
time_add ( &tsched->params.edf.next_run, ¶ms->edf.period );
edf_arm_deadline ( kthread );
edf_arm_period ( kthread );
/*
* adjust "next_run" and "deadline" for "0" period
* - first "edf_wait" will set correct values for first period
*/
tsched->params.edf.next_run = now;
time_sub ( &tsched->params.edf.next_run, ¶ms->edf.period );
tsched->params.edf.active_deadline = now;
time_add ( &tsched->params.edf.active_deadline,
¶ms->edf.deadline );
}
else if ( params->edf.flags & EDF_WAIT )
{
if ( edf_check_deadline ( kthread ) )
return -1;
/* set times for next period */
if ( time_cmp ( &now, &tsched->params.edf.next_run ) > 0 )
{
time_add ( &tsched->params.edf.next_run,
&tsched->params.edf.period );
tsched->params.edf.active_deadline = tsched->params.edf.next_run;
time_add ( &tsched->params.edf.active_deadline,
&tsched->params.edf.relative_deadline );
if ( kthread == gsched->params.edf.active )
gsched->params.edf.active = NULL;
/* set (separate) alarm for deadline */
alarm.action = edf_deadline_timer;
alarm.param = kthread;
alarm.flags = 0;
alarm.period.sec = alarm.period.nsec = 0;
alarm.exp_time = tsched->params.edf.active_deadline;
k_alarm_set ( tsched->params.edf.edf_deadline_alarm, &alarm );
}
/* is task ready for execution, or must wait until next period */
if ( time_cmp ( &tsched->params.edf.next_run, &now ) > 0 )
{
/* wait till "next_run" */
LOG( DEBUG, "%x [EDF WAIT]", kthread );
kthread_enqueue ( kthread, &gsched->params.edf.wait );
kthreads_schedule (); /* will call edf_schedule() */
}
else {
/* "next_run" has already come,
* activate task => move it to "EDF ready tasks"
*/
LOG( DEBUG, "%x [EDF READY]", kthread );
LOG( DEBUG, "%x [1st READY]", kthreadq_get ( &gsched->params.edf.ready ) );
kthread_enqueue ( kthread, &gsched->params.edf.ready );
kthreads_schedule (); /* will call edf_schedule() */
}
}
else if ( params->edf.flags & EDF_EXIT )
{
if ( kthread == gsched->params.edf.active )
gsched->params.edf.active = NULL;
//LOG( DEBUG, "%x [EXIT]", kthread );
if ( edf_check_deadline ( kthread ) )
{
LOG( DEBUG, "%x [EXIT-error]", kthread );
return -1;
}
LOG( DEBUG, "%x [EXIT-normal]", kthread );
if ( tsched->params.edf.edf_period_alarm )
k_alarm_remove ( tsched->params.edf.edf_period_alarm );
if ( tsched->params.edf.edf_deadline_alarm )
k_alarm_remove ( tsched->params.edf.edf_deadline_alarm );
tsched->sched_policy = SCHED_FIFO;
LOG( DEBUG, "%x [EXIT]", kthread );
if ( k_edf_schedule () )
{
LOG( DEBUG, "%x [EXIT]", kthread );
kthreads_schedule (); /* will NOT call edf_schedule() */
}
LOG( DEBUG, "%x [EXIT]", kthread );
}
return 0;
}
static void edf_deadline_alarm ( sigval_t sigev_value )
{
kthread_t *kthread = sigev_value.sival_ptr, *test;
kthread_sched2_t *tsched;
ksched_t *ksched;
itimerspec_t alarm;
ASSERT ( kthread );
ksched = ksched2_get ( kthread_get_sched_policy (kthread) );
tsched = kthread_get_sched2_param ( kthread );
test = kthreadq_remove ( &ksched->params.edf.wait, kthread );
EDF_LOG ( "%x %x [Deadline alarm]", kthread, test );
if( test == kthread )
{
EDF_LOG ( "%x [Waked, but too late]", kthread );
kthread_set_syscall_retval ( kthread, EXIT_FAILURE );
kthread_move_to_ready ( kthread, LAST );
if ( tsched->params.edf.flags & EDF_TERMINATE )
{
EDF_LOG ( "%x [EDF_TERMINATE]", kthread );
ktimer_delete ( tsched->params.edf.period_alarm );
tsched->params.edf.period_alarm = NULL;
ktimer_delete ( tsched->params.edf.deadline_alarm );
tsched->params.edf.deadline_alarm = NULL;
kthread_set_errno ( kthread, ETIMEDOUT );
kthread_exit ( kthread, NULL, TRUE );
}
else {
edf_schedule (ksched);
}
}
else {
/*
* thread is not in edf.wait queue, but might be running or its
* blocked - it is probable (almost certain) that it missed deadline
*/
EDF_LOG ( "%x [Not in edf.wait. Missed deadline?]", kthread );
if ( edf_check_deadline ( kthread ) )
{
/* what to do if its missed? kill thread? */
if ( tsched->params.edf.flags & EDF_TERMINATE )
{
EDF_LOG ( "%x [EDF_TERMINATE]", kthread );
ktimer_delete (tsched->params.edf.period_alarm);
tsched->params.edf.period_alarm = NULL;
ktimer_delete ( tsched->params.edf.deadline_alarm );
tsched->params.edf.deadline_alarm = NULL;
kthread_set_errno ( kthread, ETIMEDOUT );
kthread_exit ( kthread, NULL, TRUE );
}
else if ( tsched->params.edf.flags & EDF_CONTINUE )
{
/* continue as deadline is not missed */
EDF_LOG ( "%x [EDF_CONTINUE]", kthread );
}
else if ( tsched->params.edf.flags & EDF_SKIP )
{
/* skip deadline */
/* set times for next period */
EDF_LOG ( "%x [EDF_SKIP]", kthread );
time_add ( &tsched->params.edf.next_run,
&tsched->params.edf.period );
tsched->params.edf.active_deadline =
tsched->params.edf.next_run;
time_add ( &tsched->params.edf.active_deadline,
&tsched->params.edf.relative_deadline );
if ( kthread == ksched->params.edf.active )
ksched->params.edf.active = NULL;
TIME_RESET ( &alarm.it_interval );
alarm.it_value = tsched->params.edf.active_deadline;
ktimer_settime ( tsched->params.edf.deadline_alarm,
TIMER_ABSTIME, &alarm, NULL );
alarm.it_interval = tsched->params.edf.period;
alarm.it_value = tsched->params.edf.next_run;
ktimer_settime ( tsched->params.edf.period_alarm,
TIMER_ABSTIME, &alarm, NULL );
kthread_enqueue (kthread, &ksched->params.edf.ready);
edf_schedule (ksched);
}
} /* moved 1 tab left for readability */
}
}
static int edf_set_thread_sched_parameters ( ksched_t *ksched,
kthread_t *kthread,
sched_supp_t *params )
{
timespec_t now;
itimerspec_t alarm;
kthread_sched2_t *tsched = kthread_get_sched2_param ( kthread );
if ( ksched->params.edf.active == kthread )
ksched->params.edf.active = NULL;
kclock_gettime ( CLOCK_REALTIME, &now );
if ( params->edf.flags & EDF_SET )
{
tsched->params.edf.period = params->edf.period;
tsched->params.edf.relative_deadline = params->edf.deadline;
tsched->params.edf.flags = params->edf.flags ^ EDF_SET;
/* create and set periodic alarm */
edf_create_alarm ( kthread, edf_period_alarm,
&tsched->params.edf.period_alarm );
tsched->params.edf.next_run = now;
time_add ( &tsched->params.edf.next_run, ¶ms->edf.period );
alarm.it_interval = tsched->params.edf.period;
alarm.it_value = tsched->params.edf.next_run;
ktimer_settime ( tsched->params.edf.period_alarm, TIMER_ABSTIME,
&alarm, NULL );
/* adjust "next_run" and "deadline" for "0" period
* first "edf_wait" will set correct values for first period */
tsched->params.edf.next_run = now;
time_sub ( &tsched->params.edf.next_run, ¶ms->edf.period );
/* create and set deadline alarm */
edf_create_alarm ( kthread, edf_deadline_alarm,
&tsched->params.edf.deadline_alarm );
tsched->params.edf.active_deadline = now;
time_add ( &tsched->params.edf.active_deadline,
¶ms->edf.deadline );
TIME_RESET ( &alarm.it_interval );
alarm.it_value = tsched->params.edf.active_deadline;
ktimer_settime ( tsched->params.edf.deadline_alarm,
TIMER_ABSTIME, &alarm, NULL );
/* move thread to edf scheduler */
kthread_enqueue ( kthread, &ksched->params.edf.ready );
edf_schedule (ksched);
}
else if ( params->edf.flags & EDF_WAIT )
{
if ( edf_check_deadline ( kthread ) )
return EXIT_FAILURE;
/* set times for next period */
if ( time_cmp ( &now, &tsched->params.edf.next_run ) > 0 )
{
time_add ( &tsched->params.edf.next_run,
&tsched->params.edf.period );
tsched->params.edf.active_deadline =
tsched->params.edf.next_run;
time_add ( &tsched->params.edf.active_deadline,
&tsched->params.edf.relative_deadline );
if ( kthread == ksched->params.edf.active )
ksched->params.edf.active = NULL;
/* set (separate) alarm for deadline
* (periodic alarm is set only once as periodic) */
TIME_RESET ( &alarm.it_interval );
alarm.it_value = tsched->params.edf.active_deadline;
ktimer_settime ( tsched->params.edf.deadline_alarm,
TIMER_ABSTIME, &alarm, NULL );
}
/* is task ready for execution, or must wait until next period*/
if ( time_cmp ( &tsched->params.edf.next_run, &now ) > 0 )
{
/* wait till "next_run" */
EDF_LOG ( "%x [EDF WAIT]", kthread );
kthread_enqueue ( kthread, &ksched->params.edf.wait );
edf_schedule (ksched);
}
else {
/* "next_run" has already come,
* activate task => move it to "EDF ready tasks"
*/
EDF_LOG ( "%x [EDF READY]", kthread );
kthread_enqueue ( kthread, &ksched->params.edf.ready );
edf_schedule (ksched);
}
}
else if ( params->edf.flags & EDF_EXIT )
{
if ( kthread == ksched->params.edf.active )
ksched->params.edf.active = NULL;
if ( edf_check_deadline ( kthread ) )
{
EDF_LOG ( "%x [EXIT-error]", kthread );
return EXIT_FAILURE;
}
EDF_LOG ( "%x [EXIT-normal]", kthread );
if ( tsched->params.edf.period_alarm )
{
/* disarm timer */
TIME_RESET ( &alarm.it_interval );
TIME_RESET ( &alarm.it_value );
ktimer_settime ( tsched->params.edf.period_alarm, 0,
&alarm, NULL );
}
if ( tsched->params.edf.deadline_alarm )
{
/* disarm timer */
TIME_RESET ( &alarm.it_interval );
TIME_RESET ( &alarm.it_value );
ktimer_settime ( tsched->params.edf.deadline_alarm, 0,
&alarm, NULL );
}
kthread_setschedparam ( kthread, SCHED_FIFO, NULL );
}
return 0;
}
