tm_basic.cxx

ecos实时嵌入式操作系统

    // Set my priority lower than any I plan to create
    schedparam.sched_priority = 5;
    pthread_setschedparam( pthread_self(), SCHED_RR, &schedparam );

    // Initiaize thread creation attributes

    pthread_attr_init( &attr );
    pthread_attr_setinheritsched( &attr, PTHREAD_EXPLICIT_SCHED );
    pthread_attr_setschedpolicy( &attr, SCHED_RR );
    schedparam.sched_priority = 10;
    pthread_attr_setschedparam( &attr, &schedparam );
    
    // Set up for full mutex unlock/lock test
    pthread_mutexattr_init( &mattr );    
    pthread_mutex_init(&test_mutexes[0], &mattr);
    sem_init(&synchro, 0, 0);

    pthread_attr_setstackaddr( &attr, &stacks[0][STACK_SIZE] );
    pthread_attr_setstacksize( &attr, STACK_SIZE );
    pthread_create( &mutex_test_thread_handle,
                    &attr,
                    mutex_test,
                    (void *)0
        );
    
    // Need to raise priority so that this thread will block on the "lock"
    schedparam.sched_priority = 20;
    pthread_setschedparam( pthread_self(), SCHED_RR, &schedparam );
    
    for (i = 0;  i < nmutexes;  i++) {
        sem_post(&synchro);
        pthread_mutex_lock(&test_mutexes[0]);
        HAL_CLOCK_READ(&mutex_ft[i].end);
        pthread_mutex_unlock(&test_mutexes[0]);
        sem_wait(&synchro);
    }
    pthread_join(mutex_test_thread_handle, &retval);
    show_times(mutex_ft, nmutexes, "Unlock/Lock mutex");

}


//--------------------------------------------------------------------------
// Message queue tests

// Currently disabled, pending implementation of POSIX message queues

#if 0
void
run_mbox_tests(void)
{
    int i, cnt;
    void *item;
    // Mailbox primitives
    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_create(&test_mbox_handles[i], &test_mboxes[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Create mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cnt = cyg_mbox_peek(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Peek [empty] mbox");

#ifdef CYGMFN_KERNEL_SYNCH_MBOXT_PUT_CAN_WAIT
    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_put(test_mbox_handles[i], (void *)i);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Put [first] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cnt = cyg_mbox_peek(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Peek [1 msg] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_put(test_mbox_handles[i], (void *)i);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Put [second] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cnt = cyg_mbox_peek(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Peek [2 msgs] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        item = cyg_mbox_get(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Get [first] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        item = cyg_mbox_get(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Get [second] mbox");
#endif // ifdef CYGMFN_KERNEL_SYNCH_MBOXT_PUT_CAN_WAIT

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_tryput(test_mbox_handles[i], (void *)i);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Tryput [first] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        item = cyg_mbox_peek_item(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Peek item [non-empty] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        item = cyg_mbox_tryget(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Tryget [non-empty] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        item = cyg_mbox_peek_item(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Peek item [empty] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        item = cyg_mbox_tryget(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Tryget [empty] mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_waiting_to_get(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Waiting to get mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_waiting_to_put(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Waiting to put mbox");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nmboxes;  i++) {
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_delete(test_mbox_handles[i]);
        HAL_CLOCK_READ(&mbox_ft[i].end);
    }
    show_times(mbox_ft, nmboxes, "Delete mbox");

    run_mbox_circuit_test();
    end_of_test_group();
}

//--------------------------------------------------------------------------

void
run_mbox_circuit_test(void)
{
#ifdef CYGMFN_KERNEL_SYNCH_MBOXT_PUT_CAN_WAIT
    int i;
    // Set my priority lower than any I plan to create
    cyg_thread_set_priority(cyg_thread_self(), 3);
    // Set up for full mbox put/get test
    cyg_mbox_create(&test_mbox_handles[0], &test_mboxes[0]);
    cyg_semaphore_init(&synchro, 0);
    cyg_thread_create(2,              // Priority - just a number
                      mbox_test,           // entry
                      0,               // index
                      thread_name("thread", 0),     // Name
                      &stacks[0][0],   // Stack
                      STACK_SIZE,      // Size
                      &mbox_test_thread_handle,   // Handle
                      &mbox_test_thread    // Thread data structure
        );
    cyg_thread_resume(mbox_test_thread_handle);
    for (i = 0;  i < nmboxes;  i++) {
        wait_for_tick(); // Wait until the next clock tick to minimize aberations
        HAL_CLOCK_READ(&mbox_ft[i].start);
        cyg_mbox_put(test_mbox_handles[0], (void *)i);
        cyg_semaphore_wait(&synchro);
    }
    cyg_thread_delete(mbox_test_thread_handle);
    show_times(mbox_ft, nmboxes, "Put/Get mbox");
#endif
}

#endif

//--------------------------------------------------------------------------

void
run_semaphore_tests(void)
{

    int i;
    int sem_val;

    // Semaphore primitives
    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_init(&test_semaphores[i], 0, 0);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Init semaphore");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_post(&test_semaphores[i]);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Post [0] semaphore");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_wait(&test_semaphores[i]);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Wait [1] semaphore");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_trywait(&test_semaphores[i]);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Trywait [0] semaphore");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        sem_post(&test_semaphores[i]);
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_trywait(&test_semaphores[i]);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Trywait [1] semaphore");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_getvalue(&test_semaphores[i], &sem_val);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Get value of semaphore");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < nsemaphores;  i++) {
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_destroy(&test_semaphores[i]);
        HAL_CLOCK_READ(&semaphore_ft[i].end);
    }
    show_times(semaphore_ft, nsemaphores, "Destroy semaphore");

    run_semaphore_circuit_test();
    end_of_test_group();
}

//--------------------------------------------------------------------------

void
run_semaphore_circuit_test(void)
{

    int i;
    struct sched_param schedparam;
    pthread_attr_t attr;
    void *retval;

    // Set my priority lower than any I plan to create
    schedparam.sched_priority = 5;
    pthread_setschedparam( pthread_self(), SCHED_RR, &schedparam );

    // Initiaize thread creation attributes

    pthread_attr_init( &attr );
    pthread_attr_setinheritsched( &attr, PTHREAD_EXPLICIT_SCHED );
    pthread_attr_setschedpolicy( &attr, SCHED_RR );
    schedparam.sched_priority = 10;
    pthread_attr_setschedparam( &attr, &schedparam );
    
    // Set up for full semaphore post/wait test
    sem_init(&test_semaphores[0], 0, 0);
    sem_init(&synchro, 0, 0);

    pthread_attr_setstackaddr( &attr, &stacks[0][STACK_SIZE] );
    pthread_attr_setstacksize( &attr, STACK_SIZE );
    pthread_create( &semaphore_test_thread_handle,
                    &attr,
                    semaphore_test,
                    (void *)0
        );
    
    
    for (i = 0;  i < nsemaphores;  i++) {
        wait_for_tick(); // Wait until the next clock tick to minimize aberations
        HAL_CLOCK_READ(&semaphore_ft[i].start);
        sem_post(&test_semaphores[0]);
        sem_wait(&synchro);
    }
    pthread_join(semaphore_test_thread_handle, &retval);
    
    show_times(semaphore_ft, nsemaphores, "Post/Wait semaphore");


}

//--------------------------------------------------------------------------

// Timer callback function
void
sigrt0(int signo, siginfo_t *info, void *context)
{
    diag_printf("sigrt0 called\n");
    // empty call back
}

// Callback used to test determinancy
static volatile int timer_cnt;
void
sigrt1(int signo, siginfo_t *info, void *context)
{
    if (timer_cnt == nscheds) return;
    sched_ft[timer_cnt].start = 0;
    HAL_CLOCK_READ(&sched_ft[timer_cnt++].end);
    if (timer_cnt == nscheds) {
        sem_post(&synchro);
    }
}

static sem_t timer_sem;

static void
sigrt2(int signo, siginfo_t *info, void *context)
{
    if (timer_cnt == nscheds) {
        sem_post(&synchro);
        sem_post(&timer_sem);        
    } else {
        sched_ft[timer_cnt].start = 0;
        sem_post(&timer_sem);
    }
}

// Null thread, used to keep scheduler busy
void *
timer_test(void * id)
{
    while (true) {
        cyg_thread_yield();
        pthread_testcancel();
    }

    return id;
}

// Thread that suspends itself at the first opportunity
void *
timer_test2(void *id)
{
    while (timer_cnt != nscheds) {
        HAL_CLOCK_READ(&sched_ft[timer_cnt++].end);
        sem_wait(&timer_sem);
    }
    return id;
}

void
run_timer_tests(void)
{
    int res;
    int i;
    struct sigaction sa;
    struct sigevent sigev;
    struct itimerspec tp;
    
    // Install signal handlers
    sigemptyset( &sa.sa_mask );
    sa.sa_flags = SA_SIGINFO;

    sa.sa_sigaction = sigrt0;
    sigaction( SIGRTMIN, &sa, NULL );

    sa.sa_sigaction = sigrt1;
    sigaction( SIGRTMIN+1, &sa, NULL );

    sa.sa_sigaction = sigrt2;
    sigaction( SIGRTMIN+2, &sa, NULL );