void InterruptHandler::dispatch_interrupt(REGS * _r) {
/* -- INTERRUPT NUMBER */
unsigned int int_no = _r->int_no - IRQ_BASE;
//Console::puts("INTERRUPT DISPATCHER: int_no = ");
////Console::putui(int_no);
////Console::puts("\n");
assert((int_no >= 0) && (int_no < IRQ_TABLE_SIZE));
/* -- HAS A HANDLER BEEN REGISTERED FOR THIS INTERRUPT NO? */
InterruptHandler * handler = handler_table[int_no];
/* This is an interrupt that was raised by the interrupt controller. We need
to send and end-of-interrupt (EOI) signal to the controller after the
interrupt has been handled. */
// When the timer ticks 20ms, an interrupt happens.
// Then the interrupt handler will take care of this interrupt and do the following.
// In dispatch_interrupt function, it looks at the handler table, finds the right handler, and
// then calls the corresponding handler function.
// However, this function will not be returned in a short time.
// If the new thread does not pend from here, it will return from somewhere else and therefore the
// EOI signal will not be sent to PIC soon. Also, if this is the case, when this thread regains
// CPU later, it will return from here, causing an unreansonable EOI signal sent.
// To avoid this case, we must send EOI signal before the handler function (context switch) is called.
/* Check if the interrupt was generated by the slave interrupt controller.
If so, send an End-of-Interrupt (EOI) message to the slave controller. */
if (generated_by_slave_PIC(int_no)) {
outportb(0xA0, 0x20);
}
/* Send an EOI message to the master interrupt controller. */
outportb(0x20, 0x20);
//Then we call the corresponding handler function
if (!handler) {
/* --- NO DEFAULT HANDLER HAS BEEN REGISTERED. SIMPLY RETURN AN ERROR. */
Console::puts("INTERRUPT NO: ");
Console::puti(int_no);
Console::puts("\n");
Console::puts("NO DEFAULT INTERRUPT HANDLER REGISTERED\n");
//abort();
}
else {
/* -- HANDLE THE INTERRUPT */
handler->handle_interrupt(_r);
}
}
void InterruptHandler::dispatch_interrupt(REGS * _r) {
/* -- INTERRUPT NUMBER */
unsigned int int_no = _r->int_no - IRQ_BASE;
//Console::puts("INTERRUPT DISPATCHER: int_no = ");
//Console::putui(int_no);
//Console::puts("\n");
assert((int_no >= 0) && (int_no < IRQ_TABLE_SIZE));
/* -- HAS A HANDLER BEEN REGISTERED FOR THIS INTERRUPT NO? */
InterruptHandler * handler = handler_table[int_no];
if (!handler) {
/* --- NO DEFAULT HANDLER HAS BEEN REGISTERED. SIMPLY RETURN AN ERROR. */
Console::puts("INTERRUPT NO: ");
Console::puti(int_no);
Console::puts("\n");
Console::puts("NO DEFAULT INTERRUPT HANDLER REGISTERED\n");
// abort();
}
else {
/* -- HANDLE THE INTERRUPT */
/* This is an interrupt that was raised by the interrupt controller. We need
to send and end-of-interrupt (EOI) signal to the controller after the
interrupt has been handled. */
/* Check if the interrupt was generated by the slave interrupt controller.
If so, send an End-of-Interrupt (EOI) message to the slave controller. */
if (generated_by_slave_PIC(int_no)) {//modified to inform the control the interupt is being handled before the call to the handler
outportb(0xA0, 0x20);//this will allow context switch during handler
}
/* Send an EOI message to the master interrupt controller. */
outportb(0x20, 0x20);
// we send interupt has been handled before calling handle interupt to prevent the interupt from not being acknoledged
//when a context switch occurs inside of the handler
// and when the calling thread finally returns from the context switch to not send the interupt handled message
//because at this point it has already been handled and if the PIC is waiting for a handled message it is a different interupt
handler->handle_interrupt(_r);
//dont do anything after handler to prevent interupts not being handled
}
}
void InterruptHandler::dispatch_interrupt(REGS * _r) {
/* -- INTERRUPT NUMBER */
unsigned int int_no = _r->int_no - IRQ_BASE;
//Console::puts("INTERRUPT DISPATCHER: int_no = ");
//Console::putui(int_no);
//Console::puts("\n");
assert((int_no >= 0) && (int_no < IRQ_TABLE_SIZE));
/* -- HAS A HANDLER BEEN REGISTERED FOR THIS INTERRUPT NO? */
InterruptHandler * handler = handler_table[int_no];
if (!handler) {
/* --- NO DEFAULT HANDLER HAS BEEN REGISTERED. SIMPLY RETURN AN ERROR. */
Console::puts("INTERRUPT NO: ");
Console::puti(int_no);
Console::puts("\n");
Console::puts("NO DEFAULT INTERRUPT HANDLER REGISTERED\n");
// abort();
}
else {
/* -- HANDLE THE INTERRUPT */
/* Signal PIC that the interrupt has been handled and then make the call to handle interrupt */
if(int_no == 0)
outportb(0x20, 0x20);
handler->handle_interrupt(_r);
}
/* This is an interrupt that was raised by the interrupt controller. We need
to send and end-of-interrupt (EOI) signal to the controller after the
interrupt has been handled. */
/* Check if the interrupt was generated by the slave interrupt controller.
If so, send an End-of-Interrupt (EOI) message to the slave controller. */
if (generated_by_slave_PIC(int_no)) {
outportb(0xA0, 0x20);
}
/* Add additional check to see that we don't send EOI for interrupt 0, since its already done*/
/* Send an EOI message to the master interrupt controller. */
outportb(0x20, 0x20);
}
void invoke_task(Task *task, const char *invoker) {
debugPrintf("'%s': task_invoke('%s','%s') at %f\n", rtsys->blockName, task->name, invoker, rtsys->time);
if (task->isUserTask()) {
UserTask *usertask = (UserTask*)task;
usertask->arrival_hook(usertask);
if (usertask->nbrInvocations == 0) {
usertask->arrival = rtsys->time;
usertask->release = rtsys->time;
usertask->release_hook(usertask);
usertask->moveToList(rtsys->readyQs[usertask->affinity]);
usertask->state = READY;
} else {
TaskInvocation *ti = new TaskInvocation();
ti->timestamp = rtsys->time;
strncpy(ti->invoker, invoker, MAXCHARS); // not used
usertask->pending->appendNode(new DataNode(ti, NULL));
}
usertask->nbrInvocations++;
} else {
InterruptHandler *handler = (InterruptHandler*)task;
if (handler->nbrInvocations == 0) {
handler->timestamp = rtsys->time;
strncpy(handler->invoker, invoker, MAXCHARS);
handler->moveToList(rtsys->readyQs[handler->affinity]);
handler->state = READY;
} else {
TaskInvocation *ti = new TaskInvocation();
ti->timestamp = rtsys->time;
strncpy(ti->invoker, invoker, MAXCHARS);
handler->pending->appendNode(new DataNode(ti, NULL));
}
handler->nbrInvocations++;
}
}
bool ttCreatePeriodicTask(char *name, double offset, double period, double priority, double (*codeFcn)(int, void*)) {
DataNode* dn;
InterruptHandler* hdl;
Timer *t;
if (ttCreateTask(name, period, priority, codeFcn)) {
dn = (DataNode*) rtsys->taskList->getLast(); // last created task
// Create interrupt handler invoked periodically to create task jobs
// see codefunctions.cpp for the code function
hdl = new InterruptHandler("perHandler");
hdl->codeFcn = rtsys->periodicTaskHandlerCode;
hdl->handlerID = rtsys->nbrOfHandlers + 1;
hdl->priority = -1000.0;
hdl->display = false;
hdl->data = (UserTask*) dn->data;
rtsys->handlerList->appendNode(new DataNode(hdl, NULL));
rtsys->nbrOfHandlers++;
// Creating periodic timer that triggers the handler
t = new Timer("perTimer");
t->time = offset; // First timer expiry at task offset
t->period = period;
t->isPeriodic = true;
hdl->timer = t;
hdl->moveToList(rtsys->timeQ);
hdl->type = TIMER;
((UserTask*) dn->data)->periodichandler = hdl;
return true;
} else {
return false;
}
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
//printf("mdlOutputs at %g\n", ssGetT(S));
rtsys = (RTsys*) ssGetUserData(S);
if (rtsys->init_phase) {
/* Failure during initialization */
return;
}
real_T *y = ssGetOutputPortRealSignal(S,0);
real_T *n = ssGetOutputPortRealSignal(S,1);
real_T *s = ssGetOutputPortRealSignal(S,2);
real_T *m = ssGetOutputPortRealSignal(S,3);
real_T *energyConsumption = ssGetOutputPortRealSignal(S,4);
int i, j, k, detected;
double dTime;
DataNode *dn;
Task* task;
UserTask* t;
InterruptHandler* hdl;
Monitor *mon;
if (!rtsys->started && ssGetT(S) == 0.0) {
rtsys->started = true;
return;
}
if (!rtsys->mdlzerocalled) {
printf("Zero crossing detection must be turned on in order to run TrueTime!\n");
ssSetErrorStatus(S, "Zero crossing detection must be turned on in order to run TrueTime!");
return;
}
/* Storing the time */
rtsys->time = ssGetT(S) * rtsys->clockDrift + rtsys->clockOffset;
detected = 0;
/* Check interrupts */
i = 0;
dn = (DataNode*) rtsys->triggerList->getFirst();
while (dn != NULL) {
if (fabs(rtsys->interruptinputs[i]-rtsys->oldinterruptinputs[i]) > 0.1) {
hdl = (InterruptHandler*) dn->data;
Trigger* trig = hdl->trigger;
if (rtsys->time - trig->prevHit > trig->latency) {
// Trigger interrupt handler
if (hdl->myList == rtsys->readyQ) {
// handler serving older interrupts
hdl->pending++;
} else {
hdl->moveToList(rtsys->readyQ);
detected = 1;
}
trig->prevHit = rtsys->time;
} else {
//printf("Call to interrupt handler %s ignored at time %f. Within interrupt latency!\n", hdl->name, rtsys->time);
}
rtsys->oldinterruptinputs[i] = rtsys->interruptinputs[i];
}
i++;
dn = (DataNode*) dn->getNext();
}
/* Check network */
dn = (DataNode*) rtsys->networkList->getFirst();
while (dn != NULL) {
hdl = (InterruptHandler*) dn->data;
Network* network = hdl->network;
i = network->networkID - 1;
//printf("mdlOutputs: checking network #%d inp: %d oldinp: %d\n",i,rtsys->networkinputs[i],rtsys->oldnetworkinputs[i]);
if (fabs(rtsys->networkinputs[i] - rtsys->oldnetworkinputs[i]) > 0.1) {
hdl->moveToList(rtsys->readyQ);
detected = 1;
rtsys->oldnetworkinputs[i] = rtsys->networkinputs[i];
}
dn = (DataNode*) dn->getNext();
}
/* Run kernel? */
double externTime = (rtsys->time- rtsys->clockOffset) / rtsys->clockDrift;
if ((externTime >= rtsys->nextHit) || (detected > 0)) {
dTime = runKernel(ssGetT(S));
if (rtsys->error) {
// Something went wrong executing a code function
mxArray *bn[1];
mexCallMATLAB(1, bn, 0, 0, "gcs"); // get current system
char buf[200];
mxGetString(bn[0], buf, 200);
for (unsigned int i=0; i<strlen(buf); i++) if (buf[i]=='\n') buf[i]=' ';
printf("In block ==> '%s'\nSimulation aborted!\n", buf);
ssSetStopRequested(S, 1);
} else {
rtsys->nextHit = (rtsys->time + dTime - rtsys->clockOffset) / rtsys->clockDrift;
}
}
/* Outputs */
for (i=0; i<rtsys->nbrOfOutputs; i++) {
y[i] = rtsys->outputs[i];
}
/* Network send */
for (i=0; i<rtsys->nbrOfNetworks; i++) {
n[i] = rtsys->nwSnd[i];
}
/* Task schedule */
i = 0;
j = 0;
dn = (DataNode*) rtsys->taskList->getFirst();
while (dn != NULL) {
t = (UserTask*) dn->data;
rtsys->taskSched[i] = (double) (j+1);
if (t->display) j++;
dn = (DataNode*) dn->getNext();
i++;
}
task = (Task*) rtsys->readyQ->getFirst();
while (task != NULL) {
if (task->isUserTask()) {
t = (UserTask*) task;
rtsys->taskSched[t->taskID - 1] += 0.25;
}
task = (Task*) task->getNext();
}
if ((rtsys->running != NULL) && (rtsys->running->isUserTask())) {
t = (UserTask*) rtsys->running;
rtsys->taskSched[t->taskID - 1] += 0.25;
}
i = 0;
j = 0;
dn = (DataNode*) rtsys->taskList->getFirst();
while (dn != NULL) {
t = (UserTask*) dn->data;
if (t->display) {
s[j] = rtsys->taskSched[i];
j++;
}
dn = (DataNode*) dn->getNext();
i++;
}
/* Handler schedule */
i = 0;
j = 0;
dn = (DataNode*) rtsys->handlerList->getFirst();
while (dn != NULL) {
rtsys->handlerSched[i] = (double) (j+rtsys->nbrOfSchedTasks+2);
if (i==0 && rtsys->contextSwitchTime > EPS) {
// Context switch schedule, move graph down to task level
rtsys->handlerSched[i] = rtsys->handlerSched[i] - 1;
}
hdl = (InterruptHandler*) dn->data;
if (hdl->display) j++;
dn = (DataNode*) dn->getNext();
i++;
}
task = (Task*) rtsys->readyQ->getFirst();
while (task != NULL) {
if (!(task->isUserTask())) {
hdl = (InterruptHandler*) task;
rtsys->handlerSched[hdl->handlerID - 1] += 0.25;
}
task = (Task*) task->getNext();
}
if ((rtsys->running != NULL) && (!(rtsys->running->isUserTask()))) {
hdl = (InterruptHandler*) rtsys->running;
rtsys->handlerSched[hdl->handlerID - 1] += 0.25;
}
i = 0;
j = 0;
dn = (DataNode*) rtsys->handlerList->getFirst();
while (dn != NULL) {
hdl = (InterruptHandler*) dn->data;
if (hdl->display) {
s[j+rtsys->nbrOfSchedTasks] = rtsys->handlerSched[i];
j++;
}
dn = (DataNode*) dn->getNext();
i++;
}
/* Monitor graph */
k = 0;
dn = (DataNode*) rtsys->monitorList->getFirst();
while (dn != NULL) {
mon = (Monitor*) dn->data;
for (j=0; j<rtsys->nbrOfTasks; j++)
rtsys->monitorGraph[j] = (double) (j+1+k*(1+rtsys->nbrOfTasks));
t = (UserTask*) mon->waitingQ->getFirst();
while (t != NULL) {
i = t->taskID;
rtsys->monitorGraph[i-1] += 0.25;
t = (UserTask*) t->getNext();
}
if (mon->heldBy != NULL) {
i = mon->heldBy->taskID;
rtsys->monitorGraph[i-1] += 0.5;
}
if (mon->display) {
for (j=0; j<rtsys->nbrOfTasks; j++)
m[j+k*rtsys->nbrOfTasks] = rtsys->monitorGraph[j];
k++;
}
dn = (DataNode*) dn->getNext();
}
/* Energy consumption */
energyConsumption[0] = rtsys->energyConsumption;
}
double runKernel(double externalTime) {
double nextHit, timeElapsed;
Task *task, *temp, *oldrunning, *newrunning;
UserTask *usertask;
InterruptHandler *hdl;
DataNode* dn;
// If no energy, then we can not run
if (rtsys->energyLevel <= 0) {
//printf("Energy is out at time: %f\n", rtsys->time);
return INF;
}
timeElapsed = externalTime - rtsys->prevHit; // time since last invocation
rtsys->prevHit = externalTime; // update previous invocation time
nextHit = 0.0;
//printf("runkernel at %f\n", rtsys->time);
#ifdef KERNEL_MATLAB
/* Write rtsys pointer to global workspace */
*((long *)mxGetPr(rtsys->rtsysptr)) = (long)rtsys;
#endif
while (nextHit < EPS) {
// Count down execution time for current task (usertask or handler)
// and check if it has finished its execution
task = rtsys->running;
if (task != NULL) {
// Count down execution time
task->execTime -= timeElapsed * rtsys->cpuScaling;
if (task->execTime < EPS) {
// Execute next segment
task->segment++;
if (task->isUserTask()) {
usertask = (UserTask*) task;
// Update budget and lastStart variable at segment change
usertask->budget -= (rtsys->time - usertask->lastStart);
usertask->lastStart = rtsys->time;
}
// Execute next segment of the code function
#ifndef KERNEL_MATLAB
task->execTime = task->codeFcn(task->segment, task->data);
if (rtsys->error) {
printf("Error in ==> task '%s', segment %d\n", task->name, task->segment);
return 0.0;
}
#else
if (task->codeFcnMATLAB == NULL) {
task->execTime = task->codeFcn(task->segment, task->data);
} else {
task->execTime = executeCode(task->codeFcnMATLAB, task->segment, task);
}
if (rtsys->error) {
printf("Error in ==> task '%s', segment %d\n", task->name, task->segment);
return 0.0;
}
#endif
if (task->execTime < 0.0) {
// Negative execution time = task finished
task->execTime = 0.0;
task->segment = 0;
if (task->myList == rtsys->readyQ) {
// Remove task from readyQ
task->remove();
}
if (!(task->isUserTask())) {
hdl = (InterruptHandler*) task;
if (hdl->type == TIMER) {
if (hdl->timer->isPeriodic) {
// if periodic timer put back in timeQ
hdl->timer->time += hdl->timer->period;
hdl->moveToList(rtsys->timeQ);
} else {
// Remove timer and free up handler
dn = getNode(hdl->timer->name, rtsys->timerList);
rtsys->timerList->deleteNode(dn);
delete hdl->timer;
hdl->timer = NULL;
hdl->type = UNUSED;
}
}
if (hdl->type == EXTERNAL) {
if (hdl->pending > 0) {
// new external interrupt occured before handler finished
hdl->pending--;
hdl->moveToList(rtsys->readyQ);
}
}
} else { // the finished task is a usertask
usertask = (UserTask*) task;
// Execute finish-hook
usertask->finish_hook(usertask);
usertask->state = IDLE;
// Release next job if any
usertask->nbrJobs--;
if (usertask->nbrJobs > 0) {
// next pending release
dn = (DataNode*) usertask->pending->getFirst();
double* release = (double*) dn->data;
usertask->release = *release;
usertask->absDeadline = *release + usertask->deadline;
usertask->moveToList(rtsys->timeQ);
usertask->pending->deleteNode(dn);
delete release;
// Execute release-hook
usertask->release_hook(usertask);
usertask->state = SLEEPING;
}
}
}
}
} // end: counting down execution time of running task
// Check time queue for possible releases
task = (Task*) rtsys->timeQ->getFirst();
while (task != NULL) {
if ((task->wakeupTime() - rtsys->time) < EPS) {
// Task to be released
temp = task;
task = (Task*) task->getNext();
temp->moveToList(rtsys->readyQ);
if (temp->isUserTask()) {
usertask = (UserTask*) temp;
usertask->state = READY;
}
} else {
break;
}
} // end: checking timeQ for releases
// Determine task with highest priority and make it running task
newrunning = (Task*) rtsys->readyQ->getFirst();
oldrunning = rtsys->running;
if (newrunning != NULL) {
// Check for suspend- and resume-hooks
if (oldrunning != NULL) {
// Is oldrunning being suspended?
if (oldrunning->isUserTask()) {
if (newrunning != oldrunning && ((UserTask*) oldrunning)->state == RUNNING) {
usertask = (UserTask*) oldrunning;
usertask->state = SUSPENDED;
usertask->suspend_hook(usertask);
}
}
}
// invocation of hooks may have triggered kernelHandler
newrunning = (Task*) rtsys->readyQ->getFirst();
// Is newrunning being resumed?
if (newrunning->isUserTask()) {
if ( (((UserTask*) newrunning)->state == READY) ||
(((UserTask*) newrunning)->state == SUSPENDED) ) {
// newrunning is being resumed or started
usertask = (UserTask*) newrunning;
usertask->state = RUNNING;
if (usertask->segment == 0) {
usertask->start_hook(usertask);
} else {
usertask->resume_hook(usertask);
}
}
}
// invocation of hooks may have triggered kernelHandler
rtsys->running = (Task*) rtsys->readyQ->getFirst();
} else { // No tasks in readyQ
rtsys->running = NULL;
} // end: task dispatching
// Determine next invocation of kernel
nextHit = getNextInvocation();
timeElapsed = 0.0;
} // end: loop while nextHit < EPS
return nextHit;
}
