tm_basic.cxx

ecos实时嵌入式操作系统

    // Set up common bits of sigevent

    sigev.sigev_notify = SIGEV_SIGNAL;

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < ntimers;  i++) {
        HAL_CLOCK_READ(&timer_ft[i].start);
        sigev.sigev_signo = SIGRTMIN;
        sigev.sigev_value.sival_ptr = (void*)(&timers[i]);
        res = timer_create( CLOCK_REALTIME, &sigev, &timers[i]);
        HAL_CLOCK_READ(&timer_ft[i].end);
        CYG_ASSERT( res == 0 , "timer_create() returned error");
    }
    show_times(timer_ft, ntimers, "Create timer");


    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 0;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 0;
    for (i = 0;  i < ntimers;  i++) {
        HAL_CLOCK_READ(&timer_ft[i].start);
        res = timer_settime( timers[i], 0, &tp, NULL );
        HAL_CLOCK_READ(&timer_ft[i].end);
        CYG_ASSERT( res == 0 , "timer_settime() returned error");
    }
    show_times(timer_ft, ntimers, "Initialize timer to zero");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    tp.it_value.tv_sec = 1;
    tp.it_value.tv_nsec = 250000000;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 0;
    for (i = 0;  i < ntimers;  i++) {
        HAL_CLOCK_READ(&timer_ft[i].start);
        res = timer_settime( timers[i], 0, &tp, NULL );
        HAL_CLOCK_READ(&timer_ft[i].end);
        CYG_ASSERT( res == 0 , "timer_settime() returned error");
    }
    show_times(timer_ft, ntimers, "Initialize timer to 1.25 sec");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 0;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 0;
    for (i = 0;  i < ntimers;  i++) {
        HAL_CLOCK_READ(&timer_ft[i].start);
        res = timer_settime( timers[i], 0, &tp, NULL );
        HAL_CLOCK_READ(&timer_ft[i].end);
        CYG_ASSERT( res == 0 , "timer_settime() returned error");
    }
    show_times(timer_ft, ntimers, "Disable timer");

    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    for (i = 0;  i < ntimers;  i++) {
        HAL_CLOCK_READ(&timer_ft[i].start);
        res = timer_delete( timers[i] );
        HAL_CLOCK_READ(&timer_ft[i].end);
        CYG_ASSERT( res == 0 , "timer_settime() returned error");
    }
    show_times(timer_ft, ntimers, "Delete timer");
    
    

    sigev.sigev_signo = SIGRTMIN+1;
    sigev.sigev_value.sival_ptr = (void*)(&timers[i]);
    res = timer_create( CLOCK_REALTIME, &sigev, &timers[0]);
    CYG_ASSERT( res == 0 , "timer_create() returned error");
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 50000000;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 50000000;;
    timer_cnt = 0;
    res = timer_settime( timers[0], 0, &tp, NULL );
    CYG_ASSERT( res == 0 , "timer_settime() returned error");
    sem_init(&synchro, 0, 0);
    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    do
    { res = sem_wait(&synchro);
    } while( res == -1 && errno == EINTR );
    CYG_ASSERT( res == 0 , "sem_wait() returned error");        
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 0;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 0;
    res = timer_settime( timers[0], 0, &tp, NULL );
    CYG_ASSERT( res == 0 , "timer_settime() returned error");
    res = timer_delete( timers[0] );
    CYG_ASSERT( res == 0 , "timer_delete() returned error");
    show_times(sched_ft, nscheds, "Timer latency [0 threads]");


    

    struct sched_param schedparam;
    pthread_attr_t attr;
    void *retval;
    
    // Set my priority higher than any I plan to create
    schedparam.sched_priority = 20;
    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 );
    
    for (i = 0;  i < 2;  i++) {
        pthread_attr_setstackaddr( &attr, &stacks[i][STACK_SIZE] );
        pthread_attr_setstacksize( &attr, STACK_SIZE );
        res = pthread_create( &threads[i],
                        &attr,
                        timer_test,
                        (void *)i
                        );
        CYG_ASSERT( res == 0 , "pthread_create() returned error");
    }

    wait_for_tick(); // Wait until the next clock tick to minimize aberations

    sigev.sigev_signo = SIGRTMIN+1;
    sigev.sigev_value.sival_ptr = (void*)(&timers[i]);
    res = timer_create( CLOCK_REALTIME, &sigev, &timers[0]);
    CYG_ASSERT( res == 0 , "timer_create() returned error");
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 50000000;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 50000000;;
    timer_cnt = 0;
    res = timer_settime( timers[0], 0, &tp, NULL );
    CYG_ASSERT( res == 0 , "timer_settime() returned error");
    
    sem_init(&synchro, 0, 0);
    do
    { res = sem_wait(&synchro);
    } while( res == -1 && errno == EINTR );
    CYG_ASSERT( res == 0 , "sem_wait() returned error");        
    res = timer_delete(timers[0]);
    CYG_ASSERT( res == 0 , "timerdelete() returned error");    
    show_times(sched_ft, nscheds, "Timer latency [2 threads]");
    for (i = 0;  i < 2;  i++) {
        pthread_cancel(threads[i]);
        pthread_join(threads[i], &retval);
    }


    
    for (i = 0;  i < ntest_threads;  i++) {
        pthread_attr_setstackaddr( &attr, &stacks[i][STACK_SIZE] );
        pthread_attr_setstacksize( &attr, STACK_SIZE );
        res = pthread_create( &threads[i],
                        &attr,
                        timer_test,
                        (void *)i
                        );
        CYG_ASSERT( res == 0 , "pthread_create() returned error");
    }
    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    sigev.sigev_signo = SIGRTMIN+1;
    sigev.sigev_value.sival_ptr = (void*)(&timers[i]);
    res = timer_create( CLOCK_REALTIME, &sigev, &timers[0]);
    CYG_ASSERT( res == 0 , "timer_create() returned error");
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 50000000;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 50000000;;
    timer_cnt = 0;
    res = timer_settime( timers[0], 0, &tp, NULL );
    CYG_ASSERT( res == 0 , "timer_settime() returned error");
    
    sem_init(&synchro, 0, 0);
    do
    { res = sem_wait(&synchro);
    } while( res == -1 && errno == EINTR );
    CYG_ASSERT( res == 0 , "sem_wait() returned error");        
    res = timer_delete(timers[0]);
    CYG_ASSERT( res == 0 , "timerdelete() returned error");        
    show_times(sched_ft, nscheds, "Timer latency [many threads]");
    for (i = 0;  i < ntest_threads;  i++) {
        pthread_cancel(threads[i]);
        pthread_join(threads[i], &retval);
    }

    sem_init(&synchro, 0, 0);
    sem_init(&timer_sem, 0, 0);    
    pthread_attr_setstackaddr( &attr, &stacks[0][STACK_SIZE] );
    pthread_attr_setstacksize( &attr, STACK_SIZE );
    res = pthread_create( &threads[0],
                          &attr,
                          timer_test2,
                          (void *)0
        );
    CYG_ASSERT( res == 0 , "pthread_create() returned error");
    
    wait_for_tick(); // Wait until the next clock tick to minimize aberations
    sigev.sigev_signo = SIGRTMIN+2;
    sigev.sigev_value.sival_ptr = (void*)(threads[0]);
    res = timer_create( CLOCK_REALTIME, &sigev, &timers[0]);
    CYG_ASSERT( res == 0 , "timer_create() returned error");
    tp.it_value.tv_sec = 0;
    tp.it_value.tv_nsec = 50000000;
    tp.it_interval.tv_sec = 0;
    tp.it_interval.tv_nsec = 50000000;;
    timer_cnt = 0;
    res = timer_settime( timers[0], 0, &tp, NULL );
    CYG_ASSERT( res == 0 , "timer_settime() returned error");

    do
    { res = sem_wait(&synchro);
    } while( res == -1 && errno == EINTR );
    CYG_ASSERT( res == 0 , "sem_wait() returned error");        
    res = timer_delete(timers[0]);
    CYG_ASSERT( res == 0 , "timerdelete() returned error");        
    show_times(sched_ft, nscheds, "Timer -> thread post latency");
    sem_post(&timer_sem);
//    pthread_cancel(threads[0]);
    pthread_join(threads[0], &retval);


    end_of_test_group();
}


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

void 
run_all_tests()
{
    int i;
    cyg_uint32 tv[nsamples], tv0, tv1;
//    cyg_uint32 min_stack, max_stack, total_stack, actual_stack, j;
    cyg_tick_count_t ticks, tick0, tick1;
#ifdef CYG_SCHEDULER_LOCK_TIMINGS
    cyg_uint32 lock_ave, lock_max;
#endif
#if defined(CYGVAR_KERNEL_COUNTERS_CLOCK_LATENCY) && defined(HAL_CLOCK_LATENCY)
    cyg_int32 clock_ave;
#endif

    disable_clock_latency_measurement();

//    cyg_test_dump_thread_stack_stats( "Startup, main stack", thread[0] );
    cyg_test_dump_interrupt_stack_stats( "Startup" );
    cyg_test_dump_idlethread_stack_stats( "Startup" );
    cyg_test_clear_interrupt_stack();

    diag_printf("\neCos Kernel Timings\n");
    diag_printf("Notes: all times are in microseconds (.000001) unless otherwise stated\n");
#ifdef STATS_WITHOUT_FIRST_SAMPLE
    diag_printf("       second line of results have first sample removed\n");
#endif

    cyg_thread_delay(2);  // Make sure the clock is actually running

    ns_per_system_clock = 1000000/rtc_resolution[1];

    for (i = 0;  i < nsamples;  i++) {
        HAL_CLOCK_READ(&tv[i]);
    }
    tv0 = 0;
    for (i = 1;  i < nsamples;  i++) {
        tv0 += tv[i] - tv[i-1];
    }
    end_of_test_group();
    
    overhead = tv0 / (nsamples-1);
    diag_printf("Reading the hardware clock takes %d 'ticks' overhead\n", overhead);
    diag_printf("... this value will be factored out of all other measurements\n");

    // Try and measure how long the clock interrupt handling takes
    for (i = 0;  i < nsamples;  i++) {
        tick0 = cyg_current_time();
        while (true) {
            tick1 = cyg_current_time();
            if (tick0 != tick1) break;
        }
        HAL_CLOCK_READ(&tv[i]);
    }
    tv1 = 0;
    for (i = 0;  i < nsamples;  i++) {
        tv1 += tv[i] * 1000;
    }
    tv1 = tv1 / nsamples;
    tv1 -= overhead;  // Adjust out the cost of getting the timer value
    diag_printf("Clock interrupt took");
    show_ticks_in_us(tv1);
    diag_printf(" microseconds (%d raw clock ticks)\n", tv1/1000);
    enable_clock_latency_measurement();

    ticks = cyg_current_time();

    show_test_parameters();
    show_times_hdr();

    reset_clock_latency_measurement();

    run_thread_tests();
    run_mutex_tests();
//    run_mbox_tests();
    run_semaphore_tests();
    run_timer_tests();

#ifdef CYG_SCHEDULER_LOCK_TIMINGS
    Cyg_Scheduler::get_lock_times(&lock_ave, &lock_max);
    diag_printf("\nMax lock:");
    show_ticks_in_us(lock_max);
    diag_printf(", Ave lock:");
    show_ticks_in_us(lock_ave);
    diag_printf("\n");
#endif

#if defined(CYGVAR_KERNEL_COUNTERS_CLOCK_LATENCY) && defined(HAL_CLOCK_LATENCY)
    // Display latency figures in same format as all other numbers
    disable_clock_latency_measurement();
    clock_ave = (total_clock_latency*1000) / total_clock_interrupts;
    show_ticks_in_us(clock_ave);
    show_ticks_in_us(min_clock_latency*1000);
    show_ticks_in_us(max_clock_latency*1000);
    show_ticks_in_us(0);
    diag_printf("            Clock/interrupt latency\n\n");
    enable_clock_latency_measurement();    
#endif

#if defined(CYGVAR_KERNEL_COUNTERS_CLOCK_DSR_LATENCY)
    disable_clock_latency_measurement();    
    clock_ave = (total_clock_dsr_latency*1000) / total_clock_dsr_calls;
    show_ticks_in_us(clock_ave);
    show_ticks_in_us(min_clock_dsr_latency*1000);
    show_ticks_in_us(max_clock_dsr_latency*1000);
    show_ticks_in_us(0);
    diag_printf("            Clock DSR latency\n\n");
    enable_clock_latency_measurement();
#endif

#if 0    
    disable_clock_latency_measurement();
    min_stack = STACK_SIZE;
    max_stack = 0;
    total_stack = 0;
    for (i = 0;  i < (int)NTEST_THREADS;  i++) {
        for (j = 0;  j < STACK_SIZE;  j++) {
            if (stacks[i][j]) break;
        }
        actual_stack = STACK_SIZE-j;
        if (actual_stack < min_stack) min_stack = actual_stack;
        if (actual_stack > max_stack) max_stack = actual_stack;
        total_stack += actual_stack;
    }
    for (j = 0;  j < STACKSIZE;  j++) {
        if (((char *)stack[0])[j]) break;
    }
    diag_printf("%5d   %5d   %5d  (main stack: %5d)  Thread stack used (%d total)\n", 
                total_stack/NTEST_THREADS, min_stack, max_stack, 
                STACKSIZE - j, STACK_SIZE);
#endif
    
//    cyg_test_dump_thread_stack_stats( "All done, main stack", thread[0] );
    cyg_test_dump_interrupt_stack_stats( "All done" );
    cyg_test_dump_idlethread_stack_stats( "All done" );

    enable_clock_latency_measurement();

    ticks = cyg_current_time();
    diag_printf("\nTiming complete - %d ms total\n\n", (int)((ticks*ns_per_system_clock)/1000));

    CYG_TEST_PASS_FINISH("Basic timing OK");
}

int main( int argc, char **argv )
{
    CYG_TEST_INIT();

    if (cyg_test_is_simulator) {
        nsamples = NSAMPLES_SIM;
        ntest_threads = NTEST_THREADS_SIM;
        nthread_switches = NTHREAD_SWITCHES_SIM;
        nmutexes = NMUTEXES_SIM;
        nmboxes = NMBOXES_SIM;
        nsemaphores = NSEMAPHORES_SIM;
        nscheds = NSCHEDS_SIM;
        ntimers = NTIMERS_SIM;  
    } else {
        nsamples = NSAMPLES;
        ntest_threads = NTEST_THREADS;
        nthread_switches = NTHREAD_SWITCHES;
        nmutexes = NMUTEXES; 
        nmboxes = NMBOXES;
        nsemaphores = NSEMAPHORES;
        nscheds = NSCHEDS;
        ntimers = NTIMERS;
    }

    // Sanity
#ifdef WORKHORSE_TEST
    ntest_threads = max(512, ntest_threads);
    nmutexes = max(1024, nmutexes);
    nsemaphores = max(1024, nsemaphores);
    nmboxes = max(1024, nmboxes);
    ncounters = max(1024, ncounters);
    ntimers = max(1024, ntimers);
#else
    ntest_threads = max(64, ntest_threads);
    nmutexes = max(32, nmutexes);
    nsemaphores = max(32, nsemaphores);
    nmboxes = max(32, nmboxes);
    ntimers = max(32, ntimers);
#endif

    run_all_tests();
   
}

#endif // CYGFUN_KERNEL_API_C, etc.

// EOF tm_basic.cxx