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;
}
double runKernel(double externalTime) {
Task *task, *temp, *newrunning;
UserTask *usertask;
InterruptHandler *handler;
DataNode* dn;
// If no energy, then we can not run
if (rtsys->energyLevel <= 0) {
debugPrintf("'%s': Energy is out at time: %f\n", rtsys->blockName, rtsys->time);
return TT_MAX_TIMESTEP;
}
double timeElapsed = externalTime - rtsys->prevHit; // time since last invocation
rtsys->prevHit = externalTime; // update previous invocation time
debugPrintf("'%s': runkernel at %.16f\n", rtsys->blockName, rtsys->time);
#ifdef KERNEL_MATLAB
// Write rtsys pointer to global workspace so that MATLAB kernel
// primitives can access it
*((long *)mxGetPr(rtsys->rtsysptr)) = (long)rtsys;
#endif
double timestep = 0.0;
int niter = 0;
while (timestep < TT_TIME_RESOLUTION) {
if (++niter == TT_MAX_ITER) {
mexPrintf("??? Fatal kernel error: maximum number of iterations reached!\n");
rtsys->error = 1;
return 0.0;
}
// For each CPU, count down execution time for the current task
for (int i=0; i<rtsys->nbrOfCPUs; i++) {
debugPrintf("running core %d\n", i);
rtsys->currentCPU = i;
rtsys->running = rtsys->runnings[i];
task = rtsys->running;
if (task != NULL) {
if (task->state == RUNNING) {
task->state = READY;
}
double duration = timeElapsed * rtsys->cpuScaling;
// Decrease remaining execution time for current segment and increase total CPU time
task->execTime -= duration;
task->CPUTime += duration;
// If user task, call runkernel hook (to e.g. update budgets)
if (task->isUserTask()) {
usertask = (UserTask*)task;
usertask->runkernel_hook(usertask,duration);
}
// Check if task has finished current segment or not yet started
if (task->execTime / rtsys->cpuScaling < TT_TIME_RESOLUTION) {
// Execute next segment
task->segment = task->nextSegment;
task->nextSegment++; // default, can later be changed by ttSetNextSegment
#ifndef KERNEL_MATLAB
debugPrintf("'%s': executing code segment %d of task '%s'\n", rtsys->blockName, task->segment, task->name);
task->execTime = task->codeFcn(task->segment, task->data);
if (rtsys->error) {
TT_RUNKERNEL_ERROR(errbuf);
mexPrintf("In task ==> '%s', code segment %d\n", task->name, task->segment);
return 0.0;
}
#else
if (task->codeFcnMATLAB == NULL) {
task->execTime = task->codeFcn(task->segment, task->data);
} else {
mxArray *lhs[2];
mxArray *rhs[2];
debugPrintf("'%s': executing code function '%s'\n", rtsys->blockName, task->codeFcnMATLAB);
*mxGetPr(rtsys->segArray) = (double)task->segment;
rhs[0] = rtsys->segArray;
if (task->dataMATLAB) {
rhs[1] = task->dataMATLAB;
} else {
rhs[1] = mxCreateDoubleMatrix(0, 0, mxREAL);
}
mexSetTrapFlag(1); // return control to the MEX file after an error
lhs[0] = NULL; // needed not to crash Matlab after an error
lhs[1] = NULL; // needed not to crash Matlab after an error
if (mexCallMATLAB(2, lhs, 2, rhs, task->codeFcnMATLAB) != 0) {
rtsys->error = true;
return 0.0;
}
if (mxGetClassID(lhs[0]) == mxUNKNOWN_CLASS) {
snprintf(errbuf, MAXERRBUF, "Execution time not assigned in code function '%s'", task->codeFcnMATLAB);
TT_RUNKERNEL_ERROR(errbuf);
rtsys->error = true;
return 0.0;
}
if (!mxIsDoubleScalar(lhs[0])) {
snprintf(errbuf, MAXERRBUF, "Illegal execution time returned by code function '%s'", task->codeFcnMATLAB);
TT_RUNKERNEL_ERROR(errbuf);
rtsys->error = true;
return 0.0;
}
if (mxGetClassID(lhs[1]) == mxUNKNOWN_CLASS) {
snprintf(errbuf, MAXERRBUF, "Data not assigned in code function '%s'", task->codeFcnMATLAB);
TT_RUNKERNEL_ERROR(errbuf);
rtsys->error = true;
return 0.0;
}
//if ( task->dataMATLAB ) {
if ( task->dataMATLAB != lhs[1] ) {
mxDestroyArray(task->dataMATLAB);
//task->dataMATLAB = mxDuplicateArray(lhs[1]);
task->dataMATLAB = lhs[1];
mexMakeArrayPersistent(task->dataMATLAB);
}
task->execTime = *mxGetPr(lhs[0]);
//mxDestroyArray(rhs[1]);
mxDestroyArray(lhs[0]);
//mxDestroyArray(lhs[1]);
}
#endif
if (task->execTime < 0.0) {
// Negative execution time = task is finished
debugPrintf("'%s': task '%s' finished\n", rtsys->blockName, task->name);
task->execTime = 0.0;
task->segment = 0;
task->nextSegment = 1;
// Remove task from readyQ and set running to NULL
if (task->state == READY) {
task->remove();
task->state = SLEEPING;
} else {
snprintf(errbuf, MAXERRBUF, "Finished task '%s' not in ReadyQ.", task->name);
TT_RUNKERNEL_ERROR(errbuf);
rtsys->error = true;
return 0.0;
}
rtsys->runnings[i] = NULL;
rtsys->running = NULL;
if (task->isUserTask()) {
// Execute finish-hook
usertask = (UserTask*)task;
usertask->finish_hook(usertask);
rtsys->runningUserTasks[i] = NULL;
}
task->nbrInvocations--;
if (task->nbrInvocations > 0) {
// There are queued invocations, release the next one
dn = (DataNode*) task->pending->getFirst();
TaskInvocation *ti = (TaskInvocation *)dn->data;
if (task->isUserTask()) {
usertask = (UserTask*)task;
usertask->arrival = ti->timestamp;
usertask->release = rtsys->time;
usertask->release_hook(usertask); // could affect task prio
}
debugPrintf("'%s': releasing task '%s'\n", rtsys->blockName, task->name);
task->moveToList(rtsys->readyQs[task->affinity]); // re-insert task into readyQ
task->state = READY;
if (task->isHandler()) {
handler = (InterruptHandler*)task;
strncpy(handler->invoker, ti->invoker, MAXCHARS);
handler->timestamp = ti->timestamp;
}
task->pending->deleteNode(dn);
delete ti;
}
}
}
}
}
// Check time queue for possible releases and expired timers
task = (Task*) rtsys->timeQ->getFirst();
while (task != NULL) {
if ((task->wakeupTime() - rtsys->time) >= TT_TIME_RESOLUTION) {
break; // timeQ is sorted by time, no use to go further
}
// Task to be released
temp = task;
task = (Task*) task->getNext();
if (temp->isTimer()) {
Timer *timer = (Timer*)temp;
debugPrintf("'%s': timer '%s' expired at %f\n", rtsys->blockName, timer->name, rtsys->time);
invoke_task(timer->task, timer->name);
if (timer->isPeriodic) {
// if periodic timer put back in timeQ
timer->time += timer->period;
timer->moveToList(rtsys->timeQ);
} else {
timer->remove(); // remove timer from timeQ
if (!timer->isOverrunTimer) {
// delete the timer
dn = getNode(timer->name, rtsys->timerList);
rtsys->timerList->deleteNode(dn);
delete timer;
}
}
}
else if (temp->isUserTask()) {
usertask = (UserTask*)temp;
debugPrintf("'%s': releasing task '%s'\n", rtsys->blockName, usertask->name);
usertask->moveToList(rtsys->readyQs[usertask->affinity]);
usertask->state = READY;
}
else if (temp->isHandler()) {
mexPrintf("??? Fatal kernel error: interrupt handler in TimeQ!\n");
rtsys->error = 1;
return 0.0;
}
} // end: checking timeQ for releases
// For each core, determine the task with highest priority and make it running task
for (int i=0; i<rtsys->nbrOfCPUs; i++) {
debugPrintf("scheduling core %d\n", i);
rtsys->currentCPU = i;
newrunning = (Task*) rtsys->readyQs[i]->getFirst();
// If old running has been preempted, execute suspend_hook
if (rtsys->runnings[i] != NULL && rtsys->runnings[i] != newrunning) {
if (rtsys->runnings[i]->isUserTask()) {
usertask = (UserTask*)rtsys->runnings[i];
usertask->suspend_hook(usertask);
}
}
// If new running != old running, execute start_hook or resume_hook
if (newrunning != NULL && newrunning != rtsys->runnings[i]) {
if (newrunning->isUserTask()) {
usertask = (UserTask*)newrunning;
if (usertask->segment == 0) {
usertask->segment = 1;
usertask->start_hook(usertask);
} else {
usertask->resume_hook(usertask);
}
rtsys->runningUserTasks[i] = usertask;
}
}
rtsys->runnings[i] = (Task*) rtsys->readyQs[i]->getFirst(); // hooks may have released handlers
if (rtsys->runnings[i] != NULL) {
rtsys->runnings[i]->state = RUNNING;
}
}
// Determine next invocation of kernel
double compTime;
timestep = TT_MAX_TIMESTEP;
// Next release from timeQ (user task or timer)
if (rtsys->timeQ->getFirst() != NULL) {
Task* t = (Task*) rtsys->timeQ->getFirst();
timestep = t->wakeupTime() - rtsys->time;
}
// Remaining execution time of running tasks
for (int i=0; i<rtsys->nbrOfCPUs; i++) {
if (rtsys->runnings[i] != NULL) {
compTime = rtsys->runnings[i]->execTime / rtsys->cpuScaling;
timestep = (timestep < compTime) ? timestep : compTime;
}
}
timeElapsed = 0.0;
} // end: loop while timestep < TT_TIME_RESOLUTION
return timestep;
}
