void connecter(void *arg) {
DMessage *message = d_new_message();
int status;
rt_printf("tconnect : Debut de l'exécution de tconnect\n");
while (1) {
rt_printf("tconnect : Attente du sémaphore semConnecterRobot\n");
rt_sem_p(&semConnecterRobot, TM_INFINITE);
rt_printf("tconnect : Ouverture de la communication avec le robot\n");
status = robot->open_device(robot);
rt_mutex_acquire(&mutexEtat, TM_INFINITE);
etatCommRobot = status;
if (status == STATUS_OK) {
cptCommErr = 0;
//robot->start_insecurely(robot);
status = robot->start(robot);
if (status == STATUS_OK) { /* Demarrage du robot */
rt_printf("tconnect : Robot démarrer\n");
rt_sem_v(&semDeplacer);
rt_sem_v(&semRechargerWatchdog);
rt_sem_v(&semVerifierBatterie);
} else { /* Impossible de demarrer le robot, tentative de reinitialisation */
robot->stop(robot);
robot->close_com(robot);
}
}
rt_mutex_release(&mutexEtat);
message->put_state(message, status);
serveur->send(serveur, message);
}
}
void task_H(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_task_sleep_ms(1);
rt_sem_p(&semB,TM_INFINITE);
rt_printf("H : I got B\n");
busy_wait_ms(1);
rt_sem_p(&semA,TM_INFINITE);
busy_wait_ms(2);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
void task_L(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_sem_p(&semA,TM_INFINITE);
int prio = rt_task_set_priority(NULL,99);
rt_printf("L : I got A\n");
busy_wait_ms(3);
rt_sem_p(&semB,TM_INFINITE);
busy_wait_ms(3);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
/**
* Create the CAN Receiver Task
* @param fd0 CAN port
* @param *ReceiveLoop_task CAN receiver task
* @param *ReceiveLoop_task_proc CAN receiver function
*/
void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
{
int ret;
static int id = 0;
char taskname[32];
snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, current->pid);
id++;
/* create ReceiveLoop_task */
ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0); /* T_JOINABLE only in user space */
if (ret) {
printk("Failed to create ReceiveLoop_task number %d, code %d\n", id, ret);
return;
}
/* periodic task for Xenomai kernel realtime */
rt_task_set_periodic(ReceiveLoop_task, 0, 1 * 1000 * 1000); /* 1ms */
/* start ReceiveLoop_task */
ret = rt_task_start(ReceiveLoop_task, ReceiveLoop_task_proc,(void*)fd0);
if (ret) {
printk("Failed to start ReceiveLoop_task number %d, code %d\n", id, ret);
return;
}
rt_sem_v(&control_task);
}
void event(void *cookie)
{
int err;
err = rt_task_set_periodic(NULL,
TM_NOW,
rt_timer_ns2ticks(sampling_period));
if (err) {
fprintf(stderr,"switch: failed to set periodic, code %d\n", err);
return;
}
for (;;) {
err = rt_task_wait_period(NULL);
if (err) {
if (err != -ETIMEDOUT) {
/* Timer stopped. */
rt_task_delete(NULL);
}
}
switch_count++;
switch_tsc = rt_timer_tsc();
rt_sem_v(&switch_sem);
}
}
void prioHigh(void *arg){
int err = 0;
rt_task_sleep(WAIT);
int i = 0;
while(i<3) {
rt_printf("High priority task tries to lock semaphore\n");
err = rt_sem_p(&mysync,TM_INFINITE);
if(err < 0) rt_printf("Failed pending semaphore; error: %d: %s", err, strerror(-err));
err = 0;
rt_printf("High priority task locks semaphore\n");
rt_timer_spin(SPINTIME); // spin cpu doing nothing
i++;
rt_printf("High priority task unlocks semaphore\n");
err = rt_sem_v(&mysync);
if(err < 0) rt_printf("Failed signaling semaphore; error: %d: %s", err, strerror(-err));
err = 0;
}
rt_printf("..........................................High priority task ends\n");
}
void taskTwo(void *arg){
int i;
for(i=0;i<ITER;i++){
rt_sem_p(&semGlobal2,0);
rt_printf("I'm taskTwo and global = %d---\n",--global);
rt_sem_v(&semGlobal1);
}
}
void taskOne(void *arg){
int i;
for(i=0;i<ITER;i++){
rt_sem_p(&semGlobal1,0);
rt_printf("I'm taskOne and global = %d...\n",++global);
rt_sem_v(&semGlobal2);
}
}
void computationTask(long arg)
{
usleep(1);
while(1){
int i = 0;
rt_mutex_acquire(&mutex_donnee,TM_INFINITE);
while(tabDonnePris==1){
rt_mutex_release(&mutex_donnee);
rt_sem_p(&sem_donnee,TM_INFINITE);
rt_mutex_acquire(&mutex_donnee,TM_INFINITE);
}
tabDonnePris = 1;
rt_mutex_acquire(&mutex_obs,TM_INFINITE);
while(tabObstaclePris==1){
rt_mutex_release(&mutex_obs);
rt_sem_p(&sem_obs,TM_INFINITE);
rt_mutex_acquire(&mutex_obs,TM_INFINITE);
}
tabObstaclePris = 1;
printf("***************** COMPUTATION TASK ******************\n");
for(i = 0; i<SENSOR_SIZE; i++){
//If the obstacle is farther than 7meters
if(sensorArray[i] > 7){
obstacle* newObstacle = malloc(sizeof(obstacle));
newObstacle->distance = sensorArray[i];
//Add the new obstacle at the end of the list
newObstacle->nxt = NULL;
if(obstacleList == NULL) obstacleList = newObstacle;
else{
obstacle* temp = obstacleList;
if(temp->distance==0)temp->distance=newObstacle->distance;
else{
while(temp->nxt != NULL)temp = temp->nxt;
temp->nxt = newObstacle;
}
}
}
}
tabDonnePris = 0;
tabObstaclePris = 0;
rt_mutex_release(&mutex_obs);
rt_mutex_release(&mutex_donnee);
rt_sem_v(&sem_obs);
usleep(200000);
printf("fin compute\n");
}
}
void sense(void *args){
rt_task_set_periodic(NULL,TM_NOW,PLCperiod);
while(!stopped){
/*
* Read inputs status
*/
sensors = readInputs();
rt_sem_v(&readDone);
rt_task_wait_period(NULL);
}
}
void demo(void *arg)
{
int num = * (int *)arg;
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
curtask=rt_task_self();
rt_task_inquire(curtask, &curtaskinfo);
rt_sem_p(&sem, TM_INFINITE);
rt_printf("Task name: %s - Argument %d\n", curtaskinfo.name, num);
rt_sem_v(&sem);
}
void act(void *args){
rt_task_set_periodic(NULL,TM_NOW,PLCperiod);
while(!stopped){
rt_sem_p(&executionDone,0);
/*
* Write outputs status
*/
writeOutputs(actuators);
rt_sem_v(&writeDone);
rt_task_wait_period(NULL);
}
}
void connecter(void * arg) {
int status;
DMessage *message;
rt_printf("tconnect : Debut de l'exécution de tconnect\n");
while (1) {
rt_printf("tconnect : Attente du sémarphore semConnecterRobot\n");
rt_sem_p(&semConnecterRobot, TM_INFINITE);
rt_printf("tconnect : Ouverture de la communication avec le robot\n");
status = robot->open_device(robot);
rt_mutex_acquire(&mutexEtat, TM_INFINITE);
etatCommRobot = status;
rt_mutex_release(&mutexEtat);
if (status == STATUS_OK) {
status = robot->start_insecurely(robot);
if (status == STATUS_OK){
rt_printf("tconnect : Robot démarrer\n");
rt_sem_v(&semConnectedRobot);
rt_sem_v(&semConnectedRobot);
}
}
message = d_new_message();
message->put_state(message, status);
rt_printf("tconnecter : Envoi message\n");
message->print(message, 100);
if (write_in_queue(&queueMsgGUI, message, sizeof (DMessage)) < 0) {
message->free(message);
}
}
}
void taskOne(void *arg)
{
uint8_t i;
for (i = 0; i < ITER; i++) {
// Wait for the semaphore
rt_sem_p_timed(&sem_inc, NULL);
rt_printf("I am taskOne and global = %d................\n", ++global);
// Release Global
rt_sem_v(&sem_dec);
}
}
void taskTwo(void *arg)
{
uint8_t i;
for (i = 0; i < ITER; i++) {
// Wait for the semaphore
rt_sem_p_timed(&sem_dec, NULL);
rt_printf("I am taskTwo and global = %d----------------\n", --global);
// Release Global
rt_sem_v(&sem_inc);
}
}
void high(){
rt_sem_p(&synca, TM_INFINITE);
rt_task_sleep_ms(200);
rt_printf("HIGH RUNNING\n");
rt_sem_p(&semaphore, TM_INFINITE);
//rt_mutex_acquire(&mutex, TM_INFINITE);
rt_printf("HIGH AQUIRED LCOK\n");
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("HIGH FINISHED\n");
rt_sem_v(&semaphore);
//rt_mutex_release(&mutex);
}
void low(){
rt_sem_p(&synca, TM_INFINITE);
rt_printf("LOW RUNNING\n");
rt_sem_p(&semaphore, TM_INFINITE);
//rt_mutex_acquire(&mutex, TM_INFINITE);
rt_printf("LOW AQUIRED LOCK\n");
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("LOW FINISHED\n");
rt_sem_v(&semaphore);
//rt_mutex_release(&mutex);
}
static void release_resource(int method, int id){
if(method == METHOD_SEMAPHORE){
if(rt_sem_v(&sem) == SUCCESS){
rt_printf("Task %i unlocked a resource\n", id);
}else{
rt_printf("Task %i failed to unlock a resource \n", id);
}
}else if(method == METHOD_MUTEX){
if(rt_mutex_release(&mut) == SUCCESS){
rt_printf("Task %i unlocked a resource \n", id);
}else{
rt_printf("Task %i failed to unlock a resource \n", id);
}
}
}
void communiquer(void *arg) {
DMessage *msg = d_new_message();
int var1 = 1;
int num_msg = 0;
rt_printf("tserver : Début de l'exécution de serveur\n");
serveur->open(serveur, "8000");
rt_printf("tserver : Connexion\n");
rt_mutex_acquire(&mutexEtat, TM_INFINITE);
etatCommMoniteur = 0;
rt_mutex_release(&mutexEtat);
while (var1 > 0) {
rt_printf("tserver : Attente d'un message\n");
var1 = serveur->receive(serveur, msg);
num_msg++;
if (var1 > 0) {
switch (msg->get_type(msg)) {
case MESSAGE_TYPE_ACTION:
rt_printf("tserver : Le message %d reçu est une action\n",
num_msg);
DAction *action = d_new_action();
action->from_message(action, msg);
switch (action->get_order(action)) {
case ACTION_CONNECT_ROBOT:
rt_printf("tserver : Action connecter robot\n");
rt_sem_v(&semConnecterRobot);
break;
}
break;
case MESSAGE_TYPE_MOVEMENT:
rt_printf("tserver : Le message reçu %d est un mouvement\n",
num_msg);
rt_mutex_acquire(&mutexMove, TM_INFINITE);
move->from_message(move, msg);
move->print(move);
rt_mutex_release(&mutexMove);
break;
}
}
}
}
void rt_task_body(void *cookie)
{
RTIME end;
int err;
rt_task_thread = pthread_self();
rt_printf("syscall\n");
setup_checkdebug(SIGDEBUG_MIGRATE_SYSCALL);
sched_yield();
check_sigdebug_received("SIGDEBUG_MIGRATE_SYSCALL");
rt_printf("signal\n");
setup_checkdebug(SIGDEBUG_MIGRATE_SIGNAL);
err = rt_sem_v(&send_signal);
check_no_error("rt_sem_v", err);
rt_task_sleep(rt_timer_ns2ticks(10000000LL));
check_sigdebug_received("SIGDEBUG_MIGRATE_SIGNAL");
rt_printf("relaxed mutex owner\n");
setup_checkdebug(SIGDEBUG_MIGRATE_PRIOINV);
err = rt_mutex_acquire(&prio_invert, TM_INFINITE);
check("rt_mutex_acquire", err, -EINTR);
check_sigdebug_received("SIGDEBUG_MIGRATE_PRIOINV");
rt_printf("page fault\n");
setup_checkdebug(SIGDEBUG_MIGRATE_FAULT);
rt_task_sleep(0);
*mem ^= 0xFF;
check_sigdebug_received("SIGDEBUG_MIGRATE_FAULT");
if (wd) {
rt_printf("watchdog\n");
rt_print_flush_buffers();
setup_checkdebug(SIGDEBUG_WATCHDOG);
end = rt_timer_tsc() + rt_timer_ns2tsc(2100000000ULL);
rt_task_sleep(0);
while (rt_timer_tsc() < end && !sigdebug_received)
/* busy loop */;
check_sigdebug_received("SIGDEBUG_WATCHDOG");
}
}
void executor(void *args){
rt_task_set_periodic(NULL,TM_NOW,PLCperiod);
short step = (short)*args;
actuators = 0; // how to initialize the temporary value of actuators?
while(!stopped){
rt_sem_p(&readDone,0);
int c;
for(c=0;c<nStep;c++){
if(stepStatus[c])
step[c](sensors); // or equivalent
}
rt_sem_v(&executionDone);
rt_sem_p(&writeDone,0);
for(c=0;c<nStep;c++){
if(stepStatus[c])
condition[c](sensor,actuators);
}
rt_task_wait_period(NULL);
}
return;
}
int main(int argc, char *const argv[])
{
int ret;
traceobj_init(&trobj, argv[0], sizeof(tseq) / sizeof(int));
ret = rt_sem_create(&sem, "SEMA", 0, S_FIFO);
traceobj_check(&trobj, ret, 0);
ret = rt_task_create(&t_test, "test_task", 0, 10, 0);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 1);
ret = rt_task_start(&t_test, test_task, NULL);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 2);
ret = rt_task_suspend(&t_test);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 3);
ret = rt_sem_v(&sem);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 4);
ret = rt_task_resume(&t_test);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 5);
traceobj_join(&trobj);
traceobj_verify(&trobj, tseq, sizeof(tseq) / sizeof(int));
exit(0);
}
void demo (void *arg){
sleep(1);
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
//inquire current task
curtask = rt_task_self();
int retval;
retval = rt_task_inquire(curtask,&curtaskinfo);
if(retval<0){
rt_printf("inquiring error %d:%s\n",-retval,strerror(-retval));
}
//print task name
retval = * (int *)arg;
RTIME p = 1e9;
p*=retval;
rt_task_set_periodic(NULL,TM_NOW,p);
while(1){
rt_sem_p(&s,0);
rt_printf("[%s] %d s periodic\n", curtaskinfo.name,retval);
rt_sem_v(&s);
rt_task_wait_period(NULL);
}
}
static void taskB(
void * arg) {
(void)arg;
taskPrintInfo();
B = 0ULL;
while (1) {
LOG_DBG("B signal");
rt_sem_v(
&Sem);
LOG_DBG("B signaled");
B++;
printf("B: %d\n", B);
rt_task_sleep(MS_TO_NS(10));
if (B == 10) {
return;
}
}
}
void prioLow(void *arg)
{
int err = 0;
RTIME runtime;
runtime = 0;
while(runtime < EXECTIMELOW) {
err = rt_sem_p(&mysync,TM_INFINITE);
if(err < 0) rt_printf("Failed pending semaphore; error: %d: %s", err, strerror(-err));
err = 0;
rt_printf("Low priority task locks semaphore\n");
rt_timer_spin(SPINTIME); // spin cpu doing nothing
runtime = runtime + SPINTIME;
rt_printf("Low priority task unlocks semaphore\n");
err = rt_sem_v(&mysync);
if(err < 0) rt_printf("Failed signaling semaphore; error: %d: %s", err, strerror(-err));
err = 0;
}
rt_printf("..........................................Low priority task ends\n");
}
void latency (void *cookie)
{
int err, count, nsamples, warmup = 1;
RTIME expected_tsc, period_tsc, start_ticks;
RT_TIMER_INFO timer_info;
RT_QUEUE q;
rt_queue_create(&q, "queue", 0, 100, 0);
if (!(hard_timer_running = rt_is_hard_timer_running())) {
err = rt_timer_start(TM_ONESHOT);
if (err)
{
fprintf(stderr,"latency: cannot start timer, code %d\n",err);
return;
}
}
err = rt_timer_inquire(&timer_info);
if (err)
{
fprintf(stderr,"latency: rt_timer_inquire, code %d\n",err);
return;
}
nsamples = ONE_BILLION / period_ns / 1;
period_tsc = rt_timer_ns2tsc(period_ns);
/* start time: one millisecond from now. */
start_ticks = timer_info.date + rt_timer_ns2ticks(1000000);
expected_tsc = timer_info.tsc + rt_timer_ns2tsc(1000000);
err = rt_task_set_periodic(NULL,start_ticks,period_ns);
if (err)
{
fprintf(stderr,"latency: failed to set periodic, code %d\n",err);
return;
}
for (;;)
{
long minj = TEN_MILLION, maxj = -TEN_MILLION, dt, sumj;
long overrun = 0;
test_loops++;
for (count = sumj = 0; count < nsamples; count++)
{
expected_tsc += period_tsc;
err = rt_task_wait_period(NULL);
if (err)
{
if (err != -ETIMEDOUT) {
rt_queue_delete(&q);
rt_task_delete(NULL); /* Timer stopped. */
}
overrun++;
}
dt = (long)(rt_timer_tsc() - expected_tsc);
if (dt > maxj) maxj = dt;
if (dt < minj) minj = dt;
sumj += dt;
if (!(finished || warmup) && (do_histogram || do_stats))
add_histogram(histogram_avg, dt);
}
if(!warmup)
{
if (!finished && (do_histogram || do_stats))
{
add_histogram(histogram_max, maxj);
add_histogram(histogram_min, minj);
}
minjitter = minj;
if(minj < gminjitter)
gminjitter = minj;
maxjitter = maxj;
if(maxj > gmaxjitter)
gmaxjitter = maxj;
avgjitter = sumj / nsamples;
gavgjitter += avgjitter;
goverrun += overrun;
rt_sem_v(&display_sem);
struct smpl_t { long minjitter, avgjitter, maxjitter, overrun; } *smpl;
smpl = rt_queue_alloc(&q, sizeof(struct smpl_t));
#if 1
smpl->minjitter = rt_timer_tsc2ns(minj);
smpl->maxjitter = rt_timer_tsc2ns(maxj);
smpl->avgjitter = rt_timer_tsc2ns(sumj / nsamples);
smpl->overrun = goverrun;
rt_queue_send(&q, smpl, sizeof(struct smpl_t), TM_NONBLOCK);
#endif
}
if(warmup && test_loops == WARMUP_TIME)
{
test_loops = 0;
warmup = 0;
}
}
}
int main(int argc, char *argv[])
{
mlockall(MCL_CURRENT | MCL_FUTURE);
int sock, connected, bytes_recieved;
char send_data [1024] , recv_data[1024];
char sysc_call[1000];
struct sockaddr_in server_addr,client_addr;
int sin_size;
int port_data = 1029;
int viewport_data = 2029;
int err;
/* Create a semaphore; we could also have attempted to bind to
some pre-existing object, using rt_sem_bind() instead of
creating it. */
err = rt_sem_create(&sem_desc,"sendSem",SEM_INIT,SEM_MODE);
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) == -1) {
perror("Socket");
exit(1);
}
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(1026);
server_addr.sin_addr.s_addr = INADDR_ANY;
bzero(&(server_addr.sin_zero),8); /* Initial semaphore count */
if (bind(sock, (struct sockaddr *)&server_addr, sizeof(struct sockaddr))
== -1) {
perror("Unable to bind");
exit(1);
}
if (listen(sock, 5) == -1) {
perror("Listen");
exit(1);
}
pid = fork();
if (pid == 0){
}
while(1)
{
if (pid != 0){
sin_size = sizeof(struct sockaddr_in);
connected = accept(sock, (struct sockaddr *)&client_addr,&sin_size);
connection++;
printf("\n I got a connection from (%s , %d)",
inet_ntoa(client_addr.sin_addr),ntohs(client_addr.sin_port));
sprintf(send_data, "%d", port_data);
rt_sem_p(&sem_desc,TM_INFINITE);
send(connected, send_data,strlen(send_data), 0);
rt_sem_v(&sem_desc);
if (connection==1){
pid = fork();
if (pid == 0){
sleep(3);
sprintf(sysc_call, "./Model -p %d -b 5 -v %d &",port_data,viewport_data);
system(sysc_call);
}
}
else if(connection %2 ==0){
port_data++;
viewport_data++;
pid = fork();
if (pid == 0){
sleep(3);
sprintf(sysc_call, "./Model -p %d -b 5 -v %d &",port_data,viewport_data);
system(sysc_call);
}
}
}
}
close(sock);
}
void latency (void *cookie)
{
int err, count, nsamples;
RTIME expected, period;
err = rt_timer_start(TM_ONESHOT);
if (err)
{
fprintf(stderr,"latency: cannot start timer, code %d\n",err);
return;
}
nsamples = ONE_BILLION / sampling_period;
period = rt_timer_ns2ticks(sampling_period);
expected = rt_timer_tsc();
err = rt_task_set_periodic(NULL,TM_NOW,sampling_period);
if (err)
{
fprintf(stderr,"latency: failed to set periodic, code %d\n",err);
return;
}
for (;;)
{
long minj = TEN_MILLION, maxj = -TEN_MILLION, dt, sumj;
overrun = 0;
test_loops++;
for (count = sumj = 0; count < nsamples; count++)
{
unsigned long ov;
expected += period;
err = rt_task_wait_period(&ov);
if (err)
{
if (err != -ETIMEDOUT)
rt_task_delete(NULL); /* Timer stopped. */
overrun += ov;
}
dt = (long)(rt_timer_tsc() - expected);
if (dt > maxj) maxj = dt;
if (dt < minj) minj = dt;
sumj += dt;
if (!finished && (do_histogram || do_stats))
add_histogram(histogram_avg, dt);
}
if (!finished && (do_histogram || do_stats))
{
add_histogram(histogram_max, maxj);
add_histogram(histogram_min, minj);
}
minjitter = rt_timer_ticks2ns(minj);
maxjitter = rt_timer_ticks2ns(maxj);
avgjitter = rt_timer_ticks2ns(sumj / nsamples);
rt_sem_v(&display_sem);
}
}
/**
* Signaling a semaphore
*/
void LeaveMutex(void)
{
rt_sem_v(&CanFestival_mutex);
}
void latency(void *cookie)
{
int err, count, nsamples, warmup = 1;
RTIME expected_tsc, period_tsc, start_ticks, fault_threshold;
RT_TIMER_INFO timer_info;
unsigned old_relaxed = 0;
err = rt_timer_inquire(&timer_info);
if (err) {
fprintf(stderr, "latency: rt_timer_inquire, code %d\n", err);
return;
}
fault_threshold = rt_timer_ns2tsc(CONFIG_XENO_DEFAULT_PERIOD);
nsamples = ONE_BILLION / period_ns / 1000;
period_tsc = rt_timer_ns2tsc(period_ns);
/* start time: one millisecond from now. */
start_ticks = timer_info.date + rt_timer_ns2ticks(1000000);
expected_tsc = timer_info.tsc + rt_timer_ns2tsc(1000000);
err =
rt_task_set_periodic(NULL, start_ticks,
rt_timer_ns2ticks(period_ns));
if (err) {
fprintf(stderr, "latency: failed to set periodic, code %d\n",
err);
return;
}
for (;;) {
long minj = TEN_MILLION, maxj = -TEN_MILLION, dt;
long overrun = 0;
long long sumj;
test_loops++;
for (count = sumj = 0; count < nsamples; count++) {
unsigned new_relaxed;
unsigned long ov;
expected_tsc += period_tsc;
err = rt_task_wait_period(&ov);
dt = (long)(rt_timer_tsc() - expected_tsc);
new_relaxed = sampling_relaxed;
if (dt > maxj) {
if (new_relaxed != old_relaxed
&& dt > fault_threshold)
max_relaxed +=
new_relaxed - old_relaxed;
maxj = dt;
}
old_relaxed = new_relaxed;
if (dt < minj)
minj = dt;
sumj += dt;
if (err) {
if (err != -ETIMEDOUT) {
fprintf(stderr,
"latency: wait period failed, code %d\n",
err);
exit(EXIT_FAILURE); /* Timer stopped. */
}
overrun += ov;
expected_tsc += period_tsc * ov;
}
if (freeze_max && (dt > gmaxjitter)
&& !(finished || warmup)) {
xntrace_user_freeze(rt_timer_tsc2ns(dt), 0);
gmaxjitter = dt;
}
if (!(finished || warmup) && need_histo())
add_histogram(histogram_avg, dt);
}
if (!warmup) {
if (!finished && need_histo()) {
add_histogram(histogram_max, maxj);
add_histogram(histogram_min, minj);
}
minjitter = minj;
if (minj < gminjitter)
gminjitter = minj;
maxjitter = maxj;
if (maxj > gmaxjitter)
gmaxjitter = maxj;
avgjitter = sumj / nsamples;
gavgjitter += avgjitter;
goverrun += overrun;
rt_sem_v(&display_sem);
}
if (warmup && test_loops == WARMUP_TIME) {
test_loops = 0;
warmup = 0;
}
}
}
