Module: xenomai-gch
Branch: for-forge
Commit: c8fb92a709e647a34f3fa2d1c72952e6304f08fd
URL:
http://git.xenomai.org/?p=xenomai-gch.git;a=commit;h=c8fb92a709e647a34f3fa2d1c72952e6304f08fd
Author: Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>
Date: Thu Dec 26 23:45:36 2013 +0100
latency: rebase on cobalt
---
testsuite/latency/Makefile.am | 6 +-
testsuite/latency/latency.c | 271 +++++++++++++++++++++++++----------------
2 files changed, 172 insertions(+), 105 deletions(-)
diff --git a/testsuite/latency/Makefile.am b/testsuite/latency/Makefile.am
index 7acff32..55ba31b 100644
--- a/testsuite/latency/Makefile.am
+++ b/testsuite/latency/Makefile.am
@@ -1,5 +1,7 @@
testdir = @XENO_TEST_DIR@
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
test_PROGRAMS = latency
latency_SOURCES = latency.c
@@ -8,7 +10,7 @@ latency_CPPFLAGS = \
$(XENO_USER_CFLAGS) \
-I$(top_srcdir)/include
-latency_LDFLAGS =
+latency_LDFLAGS = $(XENO_POSIX_WRAPPERS)
core_libs =
if XENO_COBALT
@@ -16,8 +18,6 @@ core_libs += ../../lib/cobalt/libcobalt.la
endif
latency_LDADD = \
- ../../lib/alchemy/libalchemy.la \
- ../../lib/copperplate/libcopperplate.la \
$(core_libs) \
@XENO_USER_LDADD@ \
-lpthread -lrt -lm
diff --git a/testsuite/latency/latency.c b/testsuite/latency/latency.c
index 7c5099b..2cb874e 100644
--- a/testsuite/latency/latency.c
+++ b/testsuite/latency/latency.c
@@ -9,19 +9,22 @@
#include <sys/mman.h>
#include <sys/time.h>
#include <unistd.h>
-#include <copperplate/init.h>
-#include <alchemy/task.h>
-#include <alchemy/timer.h>
-#include <alchemy/sem.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <sys/timerfd.h>
#include <rtdm/rttesting.h>
+#include <trace.h>
-RT_TASK latency_task, display_task;
+pthread_t latency_task, display_task;
-RT_SEM display_sem;
+sem_t *display_sem;
#define ONE_BILLION 1000000000
#define TEN_MILLION 10000000
+#define HIPRIO 99
+#define LOPRIO 0
+
unsigned max_relaxed;
long minjitter, maxjitter, avgjitter;
long gminjitter = TEN_MILLION, gmaxjitter = -TEN_MILLION, goverrun = 0;
@@ -34,9 +37,10 @@ int quiet = 0; /* suppress printing of
RTH, RTD lines when -T given */
int benchdev_no = 0;
int benchdev = -1;
int freeze_max = 0;
-int priority = T_HIPRIO;
+int priority = HIPRIO;
int stop_upon_switch = 0;
sig_atomic_t sampling_relaxed = 0;
+char sem_name[16];
#define USER_TASK 0
#define KERNEL_TASK 1
@@ -70,38 +74,70 @@ int bucketsize = 1000; /* default = 1000ns, -B
<size> to override */
static inline void add_histogram(long *histogram, long addval)
{
/* bucketsize steps */
- long inabs =
- rt_timer_tsc2ns(addval >= 0 ? addval : -addval) / bucketsize;
+ long inabs = (addval >= 0 ? addval : -addval) / bucketsize;
histogram[inabs < histogram_size ? inabs : histogram_size - 1]++;
}
-static void latency(void *cookie)
+static inline long long diff_ts(struct timespec *left, struct timespec *right)
+{
+ return (long long)(left->tv_sec - right->tv_sec) * ONE_BILLION
+ + left->tv_nsec - right->tv_nsec;
+}
+
+static 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 long long fault_threshold;
+ struct itimerspec timer_conf;
+ struct timespec expected;
unsigned old_relaxed = 0;
+ char task_name[16];
+ int tfd;
+
+ snprintf(task_name, sizeof(task_name), "sampling-%d", getpid());
+ err = pthread_setname_np(pthread_self(), task_name);
+ if (err) {
+ fprintf(stderr, "latency: setting name: error code %d\n", err);
+ return NULL;
+ }
+
+#ifdef CONFIG_XENO_COBALT
+ err = pthread_set_mode_np(0, PTHREAD_WARNSW, NULL);
+ if (err) {
+ fprintf(stderr, "latency: setting WARNSW: error code %d\n",
err);
+ return NULL;
+ }
+#endif
- err = rt_timer_inquire(&timer_info);
+ tfd = timerfd_create(CLOCK_MONOTONIC, 0);
+ if (tfd == -1) {
+ fprintf(stderr, "latency: timerfd_create: %m\n");
+ return NULL;
+ }
+ err = clock_gettime(CLOCK_MONOTONIC, &expected);
if (err) {
- fprintf(stderr, "latency: rt_timer_inquire, code %d\n", err);
- return;
+ fprintf(stderr, "latency: clock_gettime %m\n");
+ return NULL;
}
- fault_threshold = rt_timer_ns2tsc(CONFIG_XENO_DEFAULT_PERIOD);
+ fault_threshold = CONFIG_XENO_DEFAULT_PERIOD;
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);
+ expected.tv_nsec += 1000000;
+ if (expected.tv_nsec > 1000000000) {
+ expected.tv_nsec -= 1000000000;
+ expected.tv_sec++;
+ }
+ timer_conf.it_value = expected;
+ timer_conf.it_interval.tv_sec = period_ns / ONE_BILLION;
+ timer_conf.it_interval.tv_nsec = period_ns % ONE_BILLION;
- err = rt_task_set_periodic(NULL, start_ticks,
- rt_timer_ns2ticks(period_ns));
+ err = timerfd_settime(tfd, TFD_TIMER_ABSTIME, &timer_conf, NULL);
if (err) {
fprintf(stderr, "latency: failed to set periodic, code %d\n",
- err);
- return;
+ errno);
+ return NULL;
}
for (;;) {
@@ -111,13 +147,14 @@ static void latency(void *cookie)
test_loops++;
for (count = sumj = 0; count < nsamples; count++) {
+ unsigned long long ticks;
unsigned new_relaxed;
- unsigned long ov;
+ struct timespec now;
- expected_tsc += period_tsc;
- err = rt_task_wait_period(&ov);
+ err = read(tfd, &ticks, sizeof(ticks));
- dt = (long)(rt_timer_tsc() - expected_tsc);
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ dt = (long)diff_ts(&now, &expected);
new_relaxed = sampling_relaxed;
if (dt > maxj) {
if (new_relaxed != old_relaxed
@@ -131,21 +168,25 @@ static void latency(void *cookie)
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 (err < 0) {
+ fprintf(stderr,
+ "latency: wait period failed, code
%d\n",
+ errno);
+ exit(EXIT_FAILURE); /* Timer
+ * stopped. */
+ }
+ if (ticks > 1)
+ overrun += ticks - 1;
+ expected.tv_nsec += (ticks * period_ns) % ONE_BILLION;
+ expected.tv_sec += (ticks * period_ns) / ONE_BILLION;
+ if (expected.tv_nsec > ONE_BILLION) {
+ expected.tv_nsec -= ONE_BILLION;
+ expected.tv_sec++;
}
if (freeze_max && (dt > gmaxjitter)
&& !(finished || warmup)) {
- xntrace_user_freeze(rt_timer_tsc2ns(dt), 0);
+ xntrace_user_freeze(dt, 0);
gmaxjitter = dt;
}
@@ -170,7 +211,7 @@ static void latency(void *cookie)
avgjitter = sumj / nsamples;
gavgjitter += avgjitter;
goverrun += overrun;
- rt_sem_v(&display_sem);
+ sem_post(display_sem);
}
if (warmup && test_loops == WARMUP_TIME) {
@@ -178,23 +219,33 @@ static void latency(void *cookie)
warmup = 0;
}
}
+
+ return NULL;
}
-static void display(void *cookie)
+static void *display(void *cookie)
{
+ char task_name[16];
int err, n = 0;
time_t start;
- char sem_name[16];
- if (test_mode == USER_TASK) {
- snprintf(sem_name, sizeof(sem_name), "dispsem-%d", getpid());
- err = rt_sem_create(&display_sem, sem_name, 0, S_FIFO);
+ snprintf(task_name, sizeof(task_name), "display-%d", getpid());
+ err = pthread_setname_np(pthread_self(), task_name);
+ if (err) {
+ fprintf(stderr, "latency: can not set task name: error %d\n",
+ err);
+ return NULL;
+ }
- if (err) {
+ if (test_mode == USER_TASK) {
+ snprintf(sem_name, sizeof(sem_name), "/dispsem-%d", getpid());
+
+ sem_unlink(sem_name); /* may fail */
+ display_sem = sem_open(sem_name, O_CREAT | O_EXCL, 0666, 0);
+ if (display_sem == SEM_FAILED) {
fprintf(stderr,
- "latency: cannot create semaphore: %s\n",
- strerror(-err));
- return;
+ "latency: cannot create semaphore: %m\n");
+ return NULL;
}
} else {
@@ -212,14 +263,13 @@ static void display(void *cookie)
config.histogram_bucketsize = bucketsize;
config.freeze_max = freeze_max;
- err =
- rt_dev_ioctl(benchdev, RTTST_RTIOC_TMBENCH_START, &config);
+ err = ioctl(benchdev, RTTST_RTIOC_TMBENCH_START, &config);
if (err) {
fprintf(stderr,
"latency: failed to start in-kernel timer
benchmark, code %d\n",
err);
- return;
+ return NULL;
}
}
@@ -236,38 +286,37 @@ static void display(void *cookie)
long minj, gminj, maxj, gmaxj, avgj;
if (test_mode == USER_TASK) {
- err = rt_sem_p(&display_sem, TM_INFINITE);
+ err = sem_wait(display_sem);
- if (err) {
- if (err != -EIDRM)
+ if (err < 0) {
+ if (errno != EIDRM)
fprintf(stderr,
"latency: failed to pend on
semaphore, code %d\n",
- err);
+ errno);
- return;
+ return NULL;
}
/* convert jitters to nanoseconds. */
- minj = rt_timer_tsc2ns(minjitter);
- gminj = rt_timer_tsc2ns(gminjitter);
- avgj = rt_timer_tsc2ns(avgjitter);
- maxj = rt_timer_tsc2ns(maxjitter);
- gmaxj = rt_timer_tsc2ns(gmaxjitter);
+ minj = minjitter;
+ gminj = gminjitter;
+ avgj = avgjitter;
+ maxj = maxjitter;
+ gmaxj = gmaxjitter;
} else {
struct rttst_interm_bench_res result;
- err =
- rt_dev_ioctl(benchdev, RTTST_RTIOC_INTERM_BENCH_RES,
- &result);
+ err = ioctl(benchdev, RTTST_RTIOC_INTERM_BENCH_RES,
+ &result);
- if (err) {
- if (err != -EIDRM)
+ if (err < 0) {
+ if (errno != EIDRM)
fprintf(stderr,
"latency: failed to call
RTTST_RTIOC_INTERM_BENCH_RES, code %d\n",
- err);
+ errno);
- return;
+ return NULL;
}
minj = result.last.min;
@@ -303,6 +352,8 @@ static void display(void *cookie)
(double)gminj / 1000, (double)gmaxj / 1000);
}
}
+
+ return NULL;
}
static double dump_histogram(long *histogram, char *kind)
@@ -406,14 +457,19 @@ static void cleanup(void)
time_t actual_duration;
long gmaxj, gminj, gavgj;
+ pthread_cancel(display_task);
+
if (test_mode == USER_TASK) {
- rt_sem_delete(&display_sem);
+ pthread_cancel(latency_task);
+ pthread_join(latency_task, NULL);
+ sem_close(display_sem);
+ sem_unlink(sem_name);
gavgjitter /= (test_loops > 1 ? test_loops : 2) - 1;
- gminj = rt_timer_tsc2ns(gminjitter);
- gmaxj = rt_timer_tsc2ns(gmaxjitter);
- gavgj = rt_timer_tsc2ns(gavgjitter);
+ gminj = gminjitter;
+ gmaxj = gmaxjitter;
+ gavgj = gavgjitter;
} else {
struct rttst_overall_bench_res overall;
@@ -428,9 +484,10 @@ static void cleanup(void)
gavgj = overall.result.avg;
goverrun = overall.result.overruns;
}
+ pthread_join(display_task, NULL);
if (benchdev >= 0)
- rt_dev_close(benchdev);
+ close(benchdev);
if (need_histo())
dump_hist_stats();
@@ -523,12 +580,9 @@ int main(int argc, char *const *argv)
{
struct sigaction sa __attribute__((unused));
int c, err, sig, cpu = -1;
- char task_name[16];
cpu_set_t cpus;
sigset_t mask;
- copperplate_init(&argc, &argv);
-
while ((c = getopt(argc, argv, "g:hp:l:T:qH:B:sD:t:fc:P:b")) != EOF)
switch (c) {
case 'g':
@@ -653,10 +707,10 @@ int main(int argc, char *const *argv)
if (period_ns == 0)
period_ns = CONFIG_XENO_DEFAULT_PERIOD; /* ns */
- if (priority <= T_LOPRIO)
- priority = T_LOPRIO + 1;
- else if (priority > T_HIPRIO)
- priority = T_HIPRIO;
+ if (priority <= LOPRIO)
+ priority = LOPRIO + 1;
+ else if (priority > HIPRIO)
+ priority = HIPRIO;
sigemptyset(&mask);
sigaddset(&mask, SIGINT);
@@ -693,19 +747,17 @@ int main(int argc, char *const *argv)
snprintf(devname, RTDM_MAX_DEVNAME_LEN, "rttest-timerbench%d",
benchdev_no);
- benchdev = rt_dev_open(devname, O_RDWR);
+ benchdev = open(devname, O_RDWR);
if (benchdev < 0) {
fprintf(stderr,
"latency: failed to open benchmark device, code
%d\n"
- "(modprobe xeno_timerbench?)\n", benchdev);
+ "(modprobe xeno_timerbench?)\n", errno);
return 0;
}
}
- snprintf(task_name, sizeof(task_name), "display-%d", getpid());
- err = rt_task_create(&display_task, task_name, 0, 0, T_FPU);
-
+ err = pthread_create(&display_task, NULL, &display, NULL);
if (err) {
fprintf(stderr,
"latency: failed to create display task, code %d\n",
@@ -713,24 +765,38 @@ int main(int argc, char *const *argv)
return 0;
}
- err = rt_task_start(&display_task, &display, NULL);
+ if (test_mode == USER_TASK) {
+ pthread_attr_t tattr;
+ struct sched_param sp;
- if (err) {
- fprintf(stderr,
- "latency: failed to start display task, code %d\n",
- err);
- return 0;
- }
+ err = pthread_attr_init(&tattr);
+ if (err) {
+ fprintf(stderr, "latency: pthread_attr_init: %d\n",
+ err);
+ return 0;
+ }
+ err = pthread_attr_setinheritsched(&tattr,
+ PTHREAD_EXPLICIT_SCHED);
+ if (err) {
+ fprintf(stderr, "latency: set explicit sched: %d\n",
+ err);
+ return 0;
+ }
+ if (priority)
+ err = pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
+ else
+ err = pthread_attr_setschedpolicy(&tattr, SCHED_OTHER);
- if (test_mode == USER_TASK) {
- snprintf(task_name, sizeof(task_name), "sampling-%d", getpid());
- err =
- rt_task_create(&latency_task, task_name, 0, priority,
- T_FPU | T_WARNSW);
+ if (err) {
+ fprintf(stderr, "latency: set scheduling policy: %d\n",
+ err);
+ return 0;
+ }
+ sp.sched_priority = priority;
+ err = pthread_attr_setschedparam(&tattr, &sp);
if (err) {
- fprintf(stderr,
- "latency: failed to create latency task, code
%d\n",
+ fprintf(stderr, "latency: set scheduling param: %d\n",
err);
return 0;
}
@@ -738,7 +804,8 @@ int main(int argc, char *const *argv)
if (cpu >= 0) {
CPU_ZERO(&cpus);
CPU_SET(cpu, &cpus);
- err = rt_task_set_affinity(&latency_task, &cpus);
+ err = pthread_attr_setaffinity_np(&tattr, sizeof(cpus),
+ &cpus);
if (err) {
fprintf(stderr,
"latency: failed to set CPU affinity,
code %d\n",
@@ -747,11 +814,11 @@ int main(int argc, char *const *argv)
}
}
- err = rt_task_start(&latency_task, &latency, NULL);
+ err = pthread_create(&latency_task, &tattr, &latency, NULL);
if (err) {
fprintf(stderr,
- "latency: failed to start latency task, code
%d\n",
+ "latency: failed to create latency task, code
%d\n",
err);
return 0;
}
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