Module: xenomai-forge
Branch: next
Commit: ddc1e9d4453fae71c58d14a04c14626f9a0dce74
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=ddc1e9d4453fae71c58d14a04c14626f9a0dce74
Author: Philippe Gerum <r...@xenomai.org>
Date: Tue May 20 11:39:57 2014 +0200
copperplate/threadobj: unify scheduling parameter settings for both cores
---
include/cobalt/boilerplate/Makefile.am | 1 +
include/cobalt/boilerplate/sched.h | 23 ++++++++++++
include/copperplate/threadobj.h | 2 +-
include/mercury/boilerplate/Makefile.am | 1 +
include/mercury/boilerplate/sched.h | 37 +++++++++++++++++++
lib/alchemy/task.c | 14 +++----
lib/copperplate/internal.c | 19 ++++++----
lib/copperplate/internal.h | 18 +++------
lib/copperplate/threadobj.c | 61 ++++++++++++++++---------------
lib/copperplate/timerobj.c | 4 +-
lib/psos/task.c | 4 +-
lib/vxworks/taskLib.c | 4 +-
12 files changed, 125 insertions(+), 63 deletions(-)
diff --git a/include/cobalt/boilerplate/Makefile.am
b/include/cobalt/boilerplate/Makefile.am
index cbf76d1..ec3c2fe 100644
--- a/include/cobalt/boilerplate/Makefile.am
+++ b/include/cobalt/boilerplate/Makefile.am
@@ -1,6 +1,7 @@
includesubdir = $(includedir)/cobalt/boilerplate
includesub_HEADERS = \
+ sched.h \
limits.h \
signal.h \
trace.h \
diff --git a/include/cobalt/boilerplate/sched.h
b/include/cobalt/boilerplate/sched.h
new file mode 100644
index 0000000..d23a8da
--- /dev/null
+++ b/include/cobalt/boilerplate/sched.h
@@ -0,0 +1,23 @@
+/*
+ * Copyright (C) 2014 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _COBALT_BOILERPLATE_SCHED_H
+#define _COBALT_BOILERPLATE_SCHED_H
+
+#include <cobalt/sched.h>
+
+#endif /* _COBALT_BOILERPLATE_SCHED_H */
diff --git a/include/copperplate/threadobj.h b/include/copperplate/threadobj.h
index 8603534..1746517 100644
--- a/include/copperplate/threadobj.h
+++ b/include/copperplate/threadobj.h
@@ -20,12 +20,12 @@
#define _COPPERPLATE_THREADOBJ_H
#include <time.h>
-#include <sched.h>
#include <semaphore.h>
#include <signal.h>
#include <pthread.h>
#include <boilerplate/list.h>
#include <boilerplate/lock.h>
+#include <boilerplate/sched.h>
#include <copperplate/clockobj.h>
#include <copperplate/heapobj.h>
#include <copperplate/debug.h>
diff --git a/include/mercury/boilerplate/Makefile.am
b/include/mercury/boilerplate/Makefile.am
index e285a69..63cf2f6 100644
--- a/include/mercury/boilerplate/Makefile.am
+++ b/include/mercury/boilerplate/Makefile.am
@@ -1,6 +1,7 @@
includesubdir = $(includedir)/mercury/boilerplate
includesub_HEADERS = \
+ sched.h \
limits.h \
signal.h \
trace.h \
diff --git a/include/mercury/boilerplate/sched.h
b/include/mercury/boilerplate/sched.h
new file mode 100644
index 0000000..30dde60
--- /dev/null
+++ b/include/mercury/boilerplate/sched.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2014 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _MERCURY_BOILERPLATE_SCHED_H
+#define _MERCURY_BOILERPLATE_SCHED_H
+
+#include <time.h>
+#include <sched.h>
+
+struct __sched_rr_param {
+ struct timespec __sched_rr_quantum;
+};
+
+struct sched_param_ex {
+ int sched_priority;
+ union {
+ struct __sched_rr_param rr;
+ } sched_u;
+};
+
+#define sched_rr_quantum sched_u.rr.__sched_rr_quantum
+
+#endif /* _MERCURY_BOILERPLATE_SCHED_H */
diff --git a/lib/alchemy/task.c b/lib/alchemy/task.c
index 380e265..fb5cae8 100644
--- a/lib/alchemy/task.c
+++ b/lib/alchemy/task.c
@@ -416,8 +416,8 @@ int rt_task_create(RT_TASK *task, const char *name,
cta.detachstate = mode & T_JOINABLE ?
PTHREAD_CREATE_JOINABLE : PTHREAD_CREATE_DETACHED;
- cta.sched.policy = prio ? SCHED_RT : SCHED_OTHER;
- cta.sched.param.sched_priority = prio;
+ cta.policy = prio ? SCHED_RT : SCHED_OTHER;
+ cta.param_ex.sched_priority = prio;
cta.prologue = task_prologue_1;
cta.run = task_entry;
cta.arg = tcb;
@@ -716,11 +716,11 @@ out:
int rt_task_shadow(RT_TASK *task, const char *name, int prio, int mode)
{
struct threadobj *current = threadobj_current();
- struct coresched_attributes csa;
+ struct sched_param_ex param_ex;
struct alchemy_task *tcb;
struct service svc;
+ int policy, ret;
pthread_t self;
- int ret;
if (mode & ~(T_LOCK | T_WARNSW))
return -EINVAL;
@@ -754,9 +754,9 @@ int rt_task_shadow(RT_TASK *task, const char *name, int
prio, int mode)
if (task)
task->thread = self;
- csa.policy = prio ? SCHED_RT : SCHED_OTHER;
- csa.param.sched_priority = prio;
- ret = __bt(copperplate_renice_local_thread(self, &csa));
+ policy = prio ? SCHED_RT : SCHED_OTHER;
+ param_ex.sched_priority = prio;
+ ret = __bt(copperplate_renice_local_thread(self, policy, ¶m_ex));
out:
CANCEL_RESTORE(svc);
diff --git a/lib/copperplate/internal.c b/lib/copperplate/internal.c
index 89957a8..b57b529 100644
--- a/lib/copperplate/internal.c
+++ b/lib/copperplate/internal.c
@@ -79,10 +79,10 @@ int copperplate_create_thread(struct corethread_attributes
*cta,
return __bt(thread_spawn_epilogue(cta));
}
-int copperplate_renice_local_thread(pthread_t tid,
- const struct coresched_attributes *csa)
+int copperplate_renice_local_thread(pthread_t tid, int policy,
+ const struct sched_param_ex *param_ex)
{
- return __bt(-pthread_setschedparam_ex(tid, csa->policy, &csa->param));
+ return __bt(-pthread_setschedparam_ex(tid, policy, param_ex));
}
static inline void prepare_wait_corespec(void)
@@ -137,10 +137,14 @@ int copperplate_create_thread(struct
corethread_attributes *cta,
return __bt(thread_spawn_epilogue(cta));
}
-int copperplate_renice_local_thread(pthread_t tid,
- const struct coresched_attributes *csa)
+int copperplate_renice_local_thread(pthread_t tid, int policy,
+ const struct sched_param_ex *param_ex)
{
- return __bt(-__RT(pthread_setschedparam(tid, csa->policy,
&csa->param)));
+ struct sched_param param = {
+ .sched_priority = param_ex->sched_priority,
+ };
+
+ return __bt(-__RT(pthread_setschedparam(tid, policy, ¶m)));
}
static inline void prepare_wait_corespec(void)
@@ -212,7 +216,8 @@ static void *thread_trampoline(void *arg)
__RT(sem_post(&cta->__reserved.warm));
thread_spawn_wait(&released);
__RT(sem_destroy(&released));
- ret = __bt(copperplate_renice_local_thread(pthread_self(),
&_cta.sched));
+ ret = __bt(copperplate_renice_local_thread(pthread_self(),
+ _cta.policy, &_cta.param_ex));
if (ret)
warning("cannot renice core thread, %s", symerror(ret));
diff --git a/lib/copperplate/internal.h b/lib/copperplate/internal.h
index 6a45732..034be93 100644
--- a/lib/copperplate/internal.h
+++ b/lib/copperplate/internal.h
@@ -23,11 +23,11 @@
#include <time.h>
#include <pthread.h>
#include <semaphore.h>
-#include <sched.h>
#include <xeno_config.h>
#include <boilerplate/list.h>
#include <boilerplate/ancillaries.h>
#include <boilerplate/limits.h>
+#include <boilerplate/sched.h>
#include <copperplate/heapobj.h>
#define HOBJ_MINLOG2 3
@@ -55,19 +55,11 @@ struct shared_heap {
} buckets[HOBJ_NBUCKETS];
};
-struct coresched_attributes {
- int policy;
-#ifdef CONFIG_XENO_COBALT
- struct sched_param_ex param;
-#else
- struct sched_param param;
-#endif
-};
-
struct corethread_attributes {
size_t stacksize;
int detachstate;
- struct coresched_attributes sched;
+ int policy;
+ struct sched_param_ex param_ex;
int (*prologue)(void *arg);
void *(*run)(void *arg);
void *arg;
@@ -91,8 +83,8 @@ int copperplate_kill_tid(pid_t tid, int sig);
int copperplate_create_thread(struct corethread_attributes *cta,
pthread_t *tid);
-int copperplate_renice_local_thread(pthread_t tid,
- const struct coresched_attributes *csa);
+int copperplate_renice_local_thread(pthread_t tid, int policy,
+ const struct sched_param_ex *param_ex);
void copperplate_bootstrap_minimal(const char *arg0,
char *mountpt);
diff --git a/lib/copperplate/threadobj.c b/lib/copperplate/threadobj.c
index e6b3992..f010450 100644
--- a/lib/copperplate/threadobj.c
+++ b/lib/copperplate/threadobj.c
@@ -48,8 +48,8 @@ union copperplate_wait_union {
static void finalize_thread(void *p);
-static int request_setschedparam(struct threadobj *thobj,
- const struct coresched_attributes *csa);
+static int request_setschedparam(struct threadobj *thobj, int policy,
+ const struct sched_param_ex *param_ex);
static int request_cancel(struct threadobj *thobj);
@@ -89,7 +89,8 @@ struct remote_cancel {
struct remote_setsched {
pthread_t tid;
- struct coresched_attributes attr;
+ int policy;
+ struct sched_param_ex param_ex;
};
struct remote_request {
@@ -147,7 +148,8 @@ static void *agent_loop(void *arg)
switch (rq->req) {
case RMT_SETSCHED:
ret =
copperplate_renice_local_thread(rq->u.setsched.tid,
-
&rq->u.setsched.attr);
+
rq->u.setsched.policy,
+
&rq->u.setsched.param_ex);
break;
case RMT_CANCEL:
ret = pthread_cancel(rq->u.cancel.tid);
@@ -197,8 +199,8 @@ static void start_agent(void)
sigaddset(&set, SIGAGENT);
pthread_sigmask(SIG_BLOCK, &set, NULL);
- cta.sched.policy = SCHED_RT;
- cta.sched.param.sched_priority = threadobj_agent_prio;
+ cta.policy = SCHED_RT;
+ cta.param_ex.sched_priority = threadobj_agent_prio;
cta.prologue = agent_prologue;
cta.run = agent_loop;
cta.arg = NULL;
@@ -402,33 +404,33 @@ void __threadobj_set_scheduler(struct threadobj *thobj,
int threadobj_set_priority(struct threadobj *thobj, int prio) /* thobj->lock
held, dropped */
{
- struct coresched_attributes csa;
- int ret;
+ struct sched_param_ex param_ex;
+ int policy, ret;
__threadobj_check_locked(thobj);
- csa.policy = SCHED_RT;
+ policy = SCHED_RT;
if (prio == 0) {
thobj->status &= ~__THREAD_S_RR;
- csa.policy = SCHED_OTHER;
+ policy = SCHED_OTHER;
} else if (thobj->status & __THREAD_S_RR) {
- csa.param.sched_rr_quantum = thobj->tslice;
- csa.policy = SCHED_RR;
+ param_ex.sched_rr_quantum = thobj->tslice;
+ policy = SCHED_RR;
}
/*
* As a side effect, resetting SCHED_RR will refill the time
* credit for the target thread with the last quantum set.
*/
- csa.param.sched_priority = prio;
+ param_ex.sched_priority = prio;
thobj->priority = prio;
- thobj->policy = csa.policy;
+ thobj->policy = policy;
if (thobj == threadobj_current()) {
threadobj_unlock(thobj);
- ret = request_setschedparam(thobj, &csa);
+ ret = request_setschedparam(thobj, policy, ¶m_ex);
} else {
- ret = request_setschedparam(thobj, &csa);
+ ret = request_setschedparam(thobj, policy, ¶m_ex);
threadobj_unlock(thobj);
}
@@ -842,8 +844,8 @@ void __threadobj_set_scheduler(struct threadobj *thobj,
int threadobj_set_priority(struct threadobj *thobj, int prio) /* thobj->lock
held, dropped */
{
- struct coresched_attributes csa;
- int ret;
+ struct sched_param_ex param_ex;
+ int policy, ret;
__threadobj_check_locked(thobj);
@@ -859,22 +861,22 @@ int threadobj_set_priority(struct threadobj *thobj, int
prio) /* thobj->lock hel
return 0;
}
- csa.policy = SCHED_RT;
+ policy = SCHED_RT;
if (prio == 0) {
thobj->status &= ~__THREAD_S_RR;
- csa.policy = SCHED_OTHER;
+ policy = SCHED_OTHER;
} else if (thobj->status & __THREAD_S_RR)
- csa.policy = SCHED_RR;
+ policy = SCHED_RR;
- csa.param.sched_priority = prio;
+ param_ex.sched_priority = prio;
thobj->priority = prio;
- thobj->policy = csa.policy;
+ thobj->policy = policy;
if (thobj == threadobj_current()) {
threadobj_unlock(thobj);
- ret = request_setschedparam(thobj, &csa);
+ ret = request_setschedparam(thobj, policy, ¶m_ex);
} else {
- ret = request_setschedparam(thobj, &csa);
+ ret = request_setschedparam(thobj, policy, ¶m_ex);
threadobj_unlock(thobj);
}
@@ -1051,8 +1053,8 @@ int threadobj_stat(struct threadobj *thobj,
#endif /* CONFIG_XENO_MERCURY */
-static int request_setschedparam(struct threadobj *thobj,
- const struct coresched_attributes *csa)
+static int request_setschedparam(struct threadobj *thobj, int policy,
+ const struct sched_param_ex *param_ex)
{
#ifdef CONFIG_XENO_PSHARED
struct remote_request *rq;
@@ -1065,7 +1067,8 @@ static int request_setschedparam(struct threadobj *thobj,
rq->req = RMT_SETSCHED;
rq->u.setsched.tid = thobj->tid;
- rq->u.setsched.attr = *csa;
+ rq->u.setsched.policy = policy;
+ rq->u.setsched.param_ex = *param_ex;
ret = __bt(send_agent(thobj, rq));
if (ret)
@@ -1073,7 +1076,7 @@ static int request_setschedparam(struct threadobj *thobj,
return ret;
}
#endif
- return __bt(copperplate_renice_local_thread(thobj->tid, csa));
+ return __bt(copperplate_renice_local_thread(thobj->tid, policy,
param_ex));
}
static int request_cancel(struct threadobj *thobj) /* thobj->lock held,
dropped. */
diff --git a/lib/copperplate/timerobj.c b/lib/copperplate/timerobj.c
index d69e346..f9938f1 100644
--- a/lib/copperplate/timerobj.c
+++ b/lib/copperplate/timerobj.c
@@ -157,8 +157,8 @@ static int timerobj_spawn_server(void)
if (svthread)
goto out;
- cta.sched.policy = SCHED_RT;
- cta.sched.param.sched_priority = threadobj_irq_prio;
+ cta.policy = SCHED_RT;
+ cta.param_ex.sched_priority = threadobj_irq_prio;
cta.prologue = server_prologue;
cta.run = timerobj_server;
cta.arg = NULL;
diff --git a/lib/psos/task.c b/lib/psos/task.c
index 18d8c0b..5f92367 100644
--- a/lib/psos/task.c
+++ b/lib/psos/task.c
@@ -346,8 +346,8 @@ u_long t_create(const char *name, u_long prio,
goto fail_register;
}
- cta.sched.policy = SCHED_RT;
- cta.sched.param.sched_priority = cprio;
+ cta.policy = SCHED_RT;
+ cta.param_ex.sched_priority = cprio;
cta.prologue = task_prologue;
cta.run = task_trampoline;
cta.arg = task;
diff --git a/lib/vxworks/taskLib.c b/lib/vxworks/taskLib.c
index f574157..ad64679 100644
--- a/lib/vxworks/taskLib.c
+++ b/lib/vxworks/taskLib.c
@@ -377,8 +377,8 @@ static STATUS __taskInit(struct wind_task *task,
registry_init_file(&task->fsobj, ®istry_ops, 0);
- cta.sched.policy = SCHED_RT;
- cta.sched.param.sched_priority = cprio;
+ cta.policy = SCHED_RT;
+ cta.param_ex.sched_priority = cprio;
cta.prologue = task_prologue;
cta.run = task_trampoline;
cta.arg = task;
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