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 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 __po_hi_delay_until (const __po_hi_time_t* time)
{
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
pthread_mutex_t mutex;
pthread_cond_t cond;
struct timespec timer;
int ret;
timer.tv_sec = time->sec;
timer.tv_nsec = time->nsec;
if (pthread_mutex_init (&mutex, NULL) != 0)
{
__PO_HI_DEBUG_INFO ("[TIME] __po_hi_delay_until: cannot initialize mutex\n");
return (__PO_HI_ERROR_PTHREAD_MUTEX);
}
if (pthread_cond_init (&cond, NULL) != 0)
{
__PO_HI_DEBUG_INFO ("[TIME] __po_hi_delay_until: cannot initialize cond\n");
pthread_mutex_destroy (&mutex);
return (__PO_HI_ERROR_PTHREAD_COND);
}
pthread_mutex_lock (&mutex);
ret = pthread_cond_timedwait (&cond, &mutex, &timer);
if ( (ret != 0) && (ret != ETIMEDOUT))
{
__PO_HI_DEBUG_INFO ("[TIME] __po_hi_delay_until: delay until error\n");
ret = __PO_HI_ERROR_PTHREAD_COND;
}
else
{
ret = __PO_HI_SUCCESS;
}
pthread_mutex_unlock (&mutex);
if (pthread_cond_destroy (&cond) != 0)
{
ret = __PO_HI_ERROR_PTHREAD_COND;
}
if (pthread_mutex_destroy (&mutex) != 0)
{
ret = __PO_HI_ERROR_PTHREAD_MUTEX;
}
return (ret);
#elif defined (RTEMS_PURE)
return (__PO_HI_UNAVAILABLE);
#elif defined (XENO_NATIVE)
int ret;
ret = rt_task_sleep_until (rt_timer_ns2tsc ( (time->sec * 1000000000) + time->nsec));
if (ret)
{
__DEBUGMSG ("[TASK] Error in rt_task_sleep_until, ret=%d\n", ret);
return (__PO_HI_ERROR_PTHREAD_COND);
}
return (__PO_HI_SUCCESS);
#elif defined (_WIN32)
HANDLE hTimer = NULL;
LARGE_INTEGER ularge;
hTimer = CreateWaitableTimer(NULL, TRUE, NULL);
ularge = __po_hi_unix_seconds_to_windows_tick (time->sec, time->nsec);
if (!SetWaitableTimer(hTimer, &ularge, 0, NULL, NULL, 0))
{
__PO_HI_DEBUG_DEBUG("[DELAY UNTIL] SetWaitableTimer failed (%d)\n", GetLastError());
return 2;
}
if (WaitForSingleObject(hTimer, INFINITE) != WAIT_OBJECT_0)
{
__PO_HI_DEBUG_DEBUG("[DELAY UNTIL] WaitForSingleObject failed (%d)\n", GetLastError());
}
if (CloseHandle(hTimer) != TRUE)
{
__PO_HI_DEBUG_DEBUG("[DELAY UNTIL] CloseHandle failed (%d)\n", GetLastError());
}
return __PO_HI_SUCCESS;
#else
return (__PO_HI_UNAVAILABLE);
#endif
}
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;
}
}
}
void latency (void *cookie)
{
int err, count, nsamples, warmup = 1;
RTIME expected_tsc, period_tsc, start_ticks;
RT_TIMER_INFO timer_info;
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;
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, 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)
{
fprintf(stderr,"latency: wait period failed, code %d\n",err);
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);
}
if(warmup && test_loops == WARMUP_TIME)
{
test_loops = 0;
warmup = 0;
}
}
}
