/*!
* Delete alarm
* \param alarm Alarm id (pointer)
* \returns status (0 for success)
*/
int sys__alarm_remove ( void *p )
{
void *id;
id = *( (void **) p );
ASSERT_ERRNO_AND_EXIT ( id, E_INVALID_HANDLE );
return k_alarm_remove ( id );
}
/*!
* Delete alarm
* \param alarm Alarm id (pointer)
* \return status (0 for success)
*/
int sys__alarm_remove ( void *id )
{
int retval;
ASSERT_ERRNO_AND_EXIT ( id, E_INVALID_HANDLE );
disable_interrupts ();
retval = k_alarm_remove ( id );
enable_interrupts ();
return retval;
}
static int edf_thread_remove ( kthread_t *kthread )
{
kthread_sched_data_t *tsched = kthread_get_sched_param ( kthread );
ksched_t *gsched = ksched_get ( tsched->sched_policy );
if ( gsched->params.edf.active == kthread )
gsched->params.edf.active = NULL;
if ( tsched->params.edf.edf_period_alarm )
{
k_alarm_remove ( tsched->params.edf.edf_period_alarm );
tsched->params.edf.edf_period_alarm = NULL;
}
tsched->sched_policy = SCHED_FIFO;
k_edf_schedule ();
return 0;
}
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;
}
