Am Donnerstag, 16. März 2006 14:53 schrieb Philippe Gerum:
> I'm currently working on extending the VxWorks skin so that it is going to
> be callable from user-space directly, without needing the UVM environment.
> This will also make its functional extension easier in the future,
> especially with respect to bsp-related services.
>
> While I'm at it, I'd also like to polish a few corner cases, so that we
> have the closest possible emulation of the original RTOS services.
> Unfortunately, the VxWorks documentation is rather terse on some
> behavioural aspects, and I have no VxWorks target at hand to test and check
> them. Therefore, I definitely need help from people reading this list who
> also happen to be VxWorks users, for providing the following missing bits
> of information:
>
> - How does taskName() behave when passed a null task id? Is it equivalent
> to specifying taskIdSelf(), or does it lead to a NULL error return?
It behaves like taskName(taskIdSelf()). see vx_skin.c.
Output was
-> vx_skin_test_1
myTaskName is 0xf40500 tShell
value = 31 = 0x1f
> - How does msgQSend() behave when passed an invalid message priority, i.e.
> neither MSG_PRI_NORMAL nor MSG_PRI_URGENT?
It doesn't care (see pMsgQue.cpp).
Output was
-> test_init
task1 started
endTime 1834779057842028544
startTime 1832156649595338752
diff 2622408246689792 2622408246689 microSecs per run 26224082466
task1 nrQuestions 100 nrAnswers 100 nrSwitches 100
value = 0 = 0x0
> - How does taskInit() behave when passed an invalid set of task options?
> Are the invalid flags ignored, or does the routine return an error status?
All invalid bits arg ignored, no error returned. see vx_skin.c.
Output was:
-> vx_skin_test_2
taskInit status is 0
taskOptionGet returns 0 is -1
value = 31 = 0x1f
> If you happen to have a VxWorks target at hand regardless of the
> architecture, and are willing to help improving the behavioural correctness
> of the VxWorks skin, then your input will be most welcome.
Hope this help. Please feel free to ask for more tests.
What about a vxWorks test suite? I would like to contribute to it. (At least
as soon as I have a working Xenomai environment again.) And I would be much
more confident to recommend Xenomai if it had test suites for its various
skins. I hope to be able to make some contributions once I get approval to
put a few of our internal test routines available under a free license.
Best regards
Niklaus Giger
/*
* Copyright (C) 2005 Niklaus Giger <[EMAIL PROTECTED]>.
*
* vxWorks is a registered trademark of Wind River Systems, Inc.
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* Hopefully this program lets you compare the relative performance of
* taskSwitches and message passing between an original vxWorks image and
* a xenomai based port.
*/
#ifdef XENOMAI
#include <xeno_config.h>
#include <vxworks/vxworks.h>
#include <xenomai/timer.h>
MODULE_LICENSE("GPL");
#else
#include <vxWorks.h>
#include <stdio.h>
#include <msgQLib.h>
#include <taskLib.h>
#include <sysLib.h>
#include <arch/ppc/vxPpcLib.h>
#define xnprintf printf
#define taskExit exit
#define RTIME UINT64
RTIME rt_timer_tsc();
RTIME rt_timer_tsc()
{
UINT32 low, high;
UINT64 res;
vxTimeBaseGet (&low, &high);
res = (UINT64) low + ((UINT64) high)<<32;
return res;
}
#endif
#define TASK_PRI 115
#define STACK_SIZE 8192
MSG_Q_ID question_qid, answer_qid;
int producer_tid,
consumer_tid,
test_tid;
static int nrQuestions;
static int nrAnswers;
static int nrSwitches;
void reportState(const char *where)
{
xnprintf("%s nrQuestions %d nrAnswers %d nrSwitches %d\n",
where, nrQuestions, nrAnswers, nrSwitches);
}
#define NR_RUNS 100
void task1 (int a0, int a1, int a2, int a3, int a4,
int a5, int a6, int a7, int a8, int a9)
{
int msg;
int sz;
int j;
RTIME diff, startTime, endTime;
xnprintf("task1 started\n");
startTime = rt_timer_tsc();
for (j=0; j<NR_RUNS; j++)
{
// taskDelay(sysClkRateGet()/2);
// startTime = rt_timer_tsc();
msg = nrQuestions;
msgQSend(question_qid,
(char *)&msg,sizeof(msg),WAIT_FOREVER,MSG_PRI_NORMAL);
++nrQuestions;
if ( (sz = msgQReceive(answer_qid,
(char *)&msg,sizeof(msg),WAIT_FOREVER)) == ERROR)
{
reportState(__func__);
taskExit(3);
}
++nrSwitches;
}
endTime = rt_timer_tsc();
diff = endTime - startTime;
xnprintf("endTime %16llu\n", endTime);
xnprintf("startTime %16llu\n", startTime);
xnprintf("diff %16llu %llu microSecs per run %llu\n", diff,
diff / 1000, diff / (1000 * NR_RUNS));
reportState(__func__);
}
void task2 (int a0, int a1, int a2, int a3, int a4,
int a5, int a6, int a7, int a8, int a9)
{
int msg;
int sz;
int j;
int status;
// for (j=0;j<5;j++)
while (1)
{
if ( (sz = msgQReceive(question_qid,
(char*)&msg,sizeof(msg),WAIT_FOREVER)) == ERROR)
{
reportState(__func__);
taskExit(3);
}
++nrAnswers;
msg = nrAnswers;
status = msgQSend(answer_qid,
(char *)&msg,sizeof(msg),WAIT_FOREVER,MSG_PRI_NORMAL | 0xffff);
if(status != OK)
{
printf("\n msgQSend failed with status %d", status);
taskExit(3);
}
}
}
const int MeasurementInSeconds = 5;
int test_init(void)
{
question_qid = msgQCreate(16,sizeof(int),MSG_Q_FIFO);
answer_qid = msgQCreate(16,sizeof(int),MSG_Q_FIFO);
consumer_tid = taskSpawn("tTask1",
TASK_PRI,
0,
STACK_SIZE,
(FUNCPTR)&task1,
0,0,0,0,0,0,0,0,0,0);
producer_tid = taskSpawn("tTask2",
TASK_PRI,
0,
STACK_SIZE,
(FUNCPTR)&task2,
0,0,0,0,0,0,0,0,0,0);
return 0;
}
#ifdef XENOMAI
int root_thread_init (void)
{ test_tid = taskSpawn("tTask1",
TASK_PRI,
0,
STACK_SIZE,
(FUNCPTR)&test_init,
0,0,0,0,0,0,0,0,0,0);
// test_init();
return 0;
}
void root_thread_exit (void)
{
xnprintf("root_thread_exit\n");
taskDelete(test_tid);
taskDelete(producer_tid);
taskDelete(consumer_tid);
msgQDelete(question_qid);
msgQDelete(answer_qid);
}
#endif
#include <vxWorks.h>
#include <stdio.h>
#include "taskLib.h"
void vx_skin_test_1()
{
char *myTaskName = taskName(0);
printf("\nmyTaskName is %p %s\n",myTaskName, myTaskName);
}
void vx_skin_test_2()
{
char *stack_base;
char *task_name=0;
WIND_TCB *tcb_base;
STATUS status;
int stack_size = 2048;
int priority = 150;
int options = -1;
FUNCPTR entry_point = (FUNCPTR) vx_skin_test_1;
tcb_base = (WIND_TCB *) malloc ( sizeof (WIND_TCB) );
stack_base = malloc (stack_size);
status = taskInit (tcb_base, /* TaskControlBlock */
task_name, /* Task-Name */
priority, /* Prioritaet der neuen Task */
options, /* Task-Optionen */
stack_base + stack_size, /* Stack-Start */
stack_size, /* Stack-Groesse */
entry_point, /* Task-Funktion */
1, 2, 3, 4, 5, 6, 7, 8, 9, 10);
printf("\ntaskInit status is %d\n", status);
options = 0xaffeaffe;
status = taskOptionsGet((int)tcb_base, &options);
printf("\ntaskOptionGet returns %d is %d\n", status, options);
}
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