Module: xenomai-forge
Branch: next
Commit: c822813401d76c784c39a2caf814781b4caece58
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=c822813401d76c784c39a2caf814781b4caece58
Author: Philippe Gerum <r...@xenomai.org>
Date: Mon Jun 16 18:39:10 2014 +0200
copperplate/threadobj: rebase periodic wait over timer+sigwaitinfo
---
include/cobalt/boilerplate/signal.h | 1 +
include/copperplate/threadobj.h | 3 +-
include/mercury/boilerplate/signal.h | 1 +
lib/alchemy/task.c | 7 --
lib/copperplate/threadobj.c | 160 +++++++++++++++++-----------------
5 files changed, 82 insertions(+), 90 deletions(-)
diff --git a/include/cobalt/boilerplate/signal.h
b/include/cobalt/boilerplate/signal.h
index f1d691f..40c6c78 100644
--- a/include/cobalt/boilerplate/signal.h
+++ b/include/cobalt/boilerplate/signal.h
@@ -24,6 +24,7 @@
#define __SIGRSVD(n) (SIGRTMIN + 8 + (n))
#define SIGAGENT __SIGRSVD(0) /* Request to remote agent */
+#define SIGPERIOD __SIGRSVD(1) /* Periodic signal */
/* Generates private signal numbers for clients, up to SIGRTMAX. */
#define __SIGPRIV(n) __SIGRSVD(8 + (n))
diff --git a/include/copperplate/threadobj.h b/include/copperplate/threadobj.h
index a8e049f..e7b610d 100644
--- a/include/copperplate/threadobj.h
+++ b/include/copperplate/threadobj.h
@@ -83,8 +83,6 @@ struct threadobj_corespec {
int policy_unlocked;
struct sched_param_ex schedparam_unlocked;
timer_t rr_timer;
- struct timespec wakeup;
- ticks_t period;
/** Timeout reported by sysregd. */
struct timespec timeout;
};
@@ -178,6 +176,7 @@ struct threadobj {
int wait_prio;
void *wait_union;
size_t wait_size;
+ timer_t periodic_timer;
struct threadobj_corespec core;
struct timespec tslice;
diff --git a/include/mercury/boilerplate/signal.h
b/include/mercury/boilerplate/signal.h
index 05bba14..0405481 100644
--- a/include/mercury/boilerplate/signal.h
+++ b/include/mercury/boilerplate/signal.h
@@ -32,6 +32,7 @@
#define SIGRELS __SIGRSVD(2) /* Syscall abort */
#define SIGRRB __SIGRSVD(3) /* Round-robin event */
#define SIGAGENT __SIGRSVD(4) /* Request to remote agent */
+#define SIGPERIOD __SIGRSVD(5) /* Periodic signal */
/* Generates private signal numbers for clients, up to SIGRTMAX. */
#define __SIGPRIV(n) __SIGRSVD(8 + (n))
diff --git a/lib/alchemy/task.c b/lib/alchemy/task.c
index e8b5f40..12621dc 100644
--- a/lib/alchemy/task.c
+++ b/lib/alchemy/task.c
@@ -840,13 +840,6 @@ int rt_task_set_periodic(RT_TASK *task, RTIME idate, RTIME
period)
if (tcb == NULL)
goto out;
- /*
- * XXX: we enforce locality since Cobalt wants this for
- * pthread_make_periodic_np(), although Mercury would accept
- * remote threads. This seems an acceptable limitation
- * compared to introducing a new Cobalt API for supporting a
- * somewhat weird feature.
- */
if (!threadobj_local_p(&tcb->thobj)) {
ret = -EINVAL;
goto out;
diff --git a/lib/copperplate/threadobj.c b/lib/copperplate/threadobj.c
index c9b4d8a..28cd9d5 100644
--- a/lib/copperplate/threadobj.c
+++ b/lib/copperplate/threadobj.c
@@ -56,6 +56,8 @@ static int request_setschedparam(struct threadobj *thobj, int
policy,
static int request_cancel(struct threadobj *thobj);
+static sigset_t sigperiod_set;
+
static int threadobj_agent_prio;
int threadobj_high_prio;
@@ -448,21 +450,6 @@ static inline void disable_rr_corespec(struct threadobj
*thobj) /* thobj->lock h
/* nop */
}
-int threadobj_set_periodic(struct threadobj *thobj,
- const struct timespec *__restrict__ idate,
- const struct timespec *__restrict__ period)
-{ /* thobj->lock held */
- __threadobj_check_locked(thobj);
-
- return -pthread_make_periodic_np(thobj->ptid,
- CLOCK_COPPERPLATE, idate, period);
-}
-
-int threadobj_wait_period(unsigned long *overruns_r)
-{
- return -pthread_wait_np(overruns_r);
-}
-
int threadobj_stat(struct threadobj *thobj, struct threadobj_stat *p) /*
thobj->lock held */
{
struct cobalt_threadstat stat;
@@ -536,7 +523,7 @@ static void suspend_sighandler(int sig)
sleep_suspended();
}
-static void resume_sighandler(int sig)
+static void nop_sighandler(int sig)
{
/* nop */
}
@@ -568,8 +555,9 @@ static inline void pkg_init_corespec(void)
sigaction(SIGRRB, &sa, NULL);
sa.sa_handler = suspend_sighandler;
sigaction(SIGSUSP, &sa, NULL);
- sa.sa_handler = resume_sighandler;
+ sa.sa_handler = nop_sighandler;
sigaction(SIGRESM, &sa, NULL);
+ sigaction(SIGPERIOD, &sa, NULL);
}
static inline int threadobj_init_corespec(struct threadobj *thobj)
@@ -616,13 +604,15 @@ static inline int threadobj_setup_corespec(struct
threadobj *thobj)
* - we must process the suspension signal on behalf of the
* target thread, as we want that thread to block upon
* receipt.
+ *
+ * In addition, we block the periodic signal, which we only
+ * want to receive from within threadobj_wait_period().
*/
sigemptyset(&set);
sigaddset(&set, SIGRESM);
+ sigaddset(&set, SIGPERIOD);
pthread_sigmask(SIG_BLOCK, &set, NULL);
- thobj->core.period = 0;
-
/*
* Create the per-thread round-robin timer.
*/
@@ -834,68 +824,6 @@ static void disable_rr_corespec(struct threadobj *thobj)
/* thobj->lock held */
timer_settime(thobj->core.rr_timer, 0, &value, NULL);
}
-int threadobj_set_periodic(struct threadobj *thobj,
- const struct timespec *__restrict__ idate,
- const struct timespec *__restrict__ period)
-{ /* thobj->lock held */
- struct timespec now, wakeup;
-
- __threadobj_check_locked(thobj);
-
- clock_gettime(CLOCK_COPPERPLATE, &now);
-
- if (idate->tv_sec || idate->tv_nsec) {
- if (timespec_before(idate, &now))
- return -ETIMEDOUT;
- wakeup = *idate;
- } else
- wakeup = now;
-
- timespec_add(&thobj->core.wakeup, &wakeup, period);
- thobj->core.period = timespec_scalar(period);
-
- return 0;
-}
-
-int threadobj_wait_period(unsigned long *overruns_r)
-{
- struct threadobj *current = threadobj_current();
- struct timespec now, delta, wakeup;
- unsigned long overruns = 0;
- ticks_t d, period;
- int ret;
-
- period = current->core.period;
- if (period == 0)
- return -EWOULDBLOCK;
-
- wakeup = current->core.wakeup;
- ret = threadobj_sleep(&wakeup);
- if (ret)
- return ret;
-
- /* Check whether we had an overrun. */
-
- clock_gettime(CLOCK_COPPERPLATE, &now);
-
- timespec_sub(&delta, &now, &wakeup);
- d = timespec_scalar(&delta);
- if (d >= period) {
- overruns = d / period;
- timespec_adds(¤t->core.wakeup, &wakeup,
- overruns * (period + 1));
- } else
- timespec_adds(¤t->core.wakeup, &wakeup, period);
-
- if (overruns)
- ret = -ETIMEDOUT;
-
- if (overruns_r)
- *overruns_r = overruns;
-
- return ret;
-}
-
int threadobj_stat(struct threadobj *thobj,
struct threadobj_stat *stat) /* thobj->lock held */
{
@@ -1037,6 +965,7 @@ int threadobj_init(struct threadobj *thobj,
thobj->cnode = __node_id;
thobj->pid = 0;
thobj->cancel_sem = NULL;
+ thobj->periodic_timer = NULL;
/*
* CAUTION: wait_union and wait_size have been set in
@@ -1075,6 +1004,8 @@ static void uninit_thread(struct threadobj *thobj)
static void destroy_thread(struct threadobj *thobj)
{
threadobj_cleanup_corespec(thobj);
+ if (thobj->periodic_timer)
+ __RT(timer_delete(thobj->periodic_timer));
uninit_thread(thobj);
}
@@ -1484,6 +1415,72 @@ int threadobj_sleep(const struct timespec *ts)
return -ret;
}
+int threadobj_set_periodic(struct threadobj *thobj,
+ const struct timespec *__restrict__ idate,
+ const struct timespec *__restrict__ period)
+{ /* thobj->lock held */
+ struct itimerspec its;
+ struct sigevent sev;
+ int ret;
+
+ __threadobj_check_locked(thobj);
+
+ if (thobj->periodic_timer == NULL) {
+ memset(&sev, 0, sizeof(sev));
+ sev.sigev_signo = SIGPERIOD;
+ sev.sigev_notify = SIGEV_SIGNAL|SIGEV_THREAD_ID;
+ sev.sigev_notify_thread_id = threadobj_get_pid(thobj);
+ ret = __RT(timer_create(CLOCK_COPPERPLATE, &sev,
+ &thobj->periodic_timer));
+ if (ret)
+ return __bt(-errno);
+ }
+
+ if (period == NULL) {
+ /* Maybe a oneshot specification. */
+ its.it_interval.tv_sec = 0;
+ its.it_interval.tv_nsec = 0;
+ } else
+ its.it_interval = *period;
+
+ if (idate == NULL) {
+ /* Maybe a start now or stop specification. */
+ its.it_value.tv_sec = 0;
+ its.it_value.tv_nsec = 0;
+ ret = __RT(timer_settime(thobj->periodic_timer, 0,
+ &its, NULL));
+ } else {
+ its.it_value = *idate;
+ ret = __RT(timer_settime(thobj->periodic_timer, TIMER_ABSTIME,
+ &its, NULL));
+ }
+
+ if (ret)
+ return __bt(-errno);
+
+ return 0;
+}
+
+int threadobj_wait_period(unsigned long *overruns_r)
+{
+ siginfo_t si;
+ int sig;
+
+ for (;;) {
+ sig = __RT(sigwaitinfo(&sigperiod_set, &si));
+ if (sig == SIGPERIOD)
+ break;
+ if (errno == EINTR)
+ return -EINTR;
+ panic("cannot wait for next period, %s", symerror(-errno));
+ }
+
+ if (overruns_r)
+ *overruns_r = si.si_overrun;
+
+ return 0;
+}
+
void threadobj_spin(ticks_t ns)
{
ticks_t end;
@@ -1603,6 +1600,7 @@ int threadobj_pkg_init(void)
threadobj_irq_prio = __RT(sched_get_priority_max(SCHED_CORE));
threadobj_high_prio = threadobj_irq_prio - 1;
threadobj_agent_prio = threadobj_high_prio;
+ sigaddset(&sigperiod_set, SIGPERIOD);
pkg_init_corespec();
start_agent();
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