ok,
here is the code.
The code essentially cerates two tasks low and high priority task.
The low priority task has priority as 3 and high as 98
When i execute this initally everything goes smoothly as low priority task
starts running with priority thread 3 , it sleeps so then the high priority
thread runs with priority 98. But before the high priority thread finishes
the for loop for 7 times the low priority thread prempts it and starts
running with priority = 98.
This is what has baffled me?
#include <stdio.h>
#include <unistd.h>
#include <sys/mman.h>
#include <native/task.h>
#include <native/timer.h>
RT_TASK task1;
RT_TASK task2;
RT_TASK_INFO info;
void low_task(void *arg)
{
rt_task_inquire(&task1, &info);
printf("Priority of low task %d\n", info.cprio);
rt_task_sleep(3000000000);
while(1)
{
printf("Priority of Low task %d\n",info.cprio);
}
}
void high_task(void *arg)
{
unsigned int i;
rt_task_inquire(&task2, &info);
printf("Priority of high task before sleep %d\n", info.cprio);
for(i=0;i<7;i++)
{
printf("Priority of High Priotity task1 %d\n",info.cprio);
rt_task_sleep(1000000000);
}
printf("High priority thread goin to sleep %d\n",info.cprio);
rt_task_sleep(3000000000);
for(i=0;i<100;i++)
{
printf("Priority of High task2 %d\n",info.cprio);
}
int main(int argc, char* argv[])
{
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_task_create(&task1, "Low Priority Task", 0, 3, 0);
rt_task_create(&task2, "High Priority Task", 0, 98, 0);
rt_task_start(&task1, &low_task, NULL);
rt_task_start(&task2, &high_task, NULL);
pause();
rt_task_join(&task1);
rt_task_join(&task2);
}
On 2/15/07, Jan Kiszka <[EMAIL PROTECTED]> wrote:
Preetam Joshi wrote:
> Hi,
>
> Do u mean to say that if i have created my tasks using native xenomai
API's
> like rt_task_create , then inside those tasks i will have to use posix
skin
> calls like pthread_setschedpolicy, etc...?
>
> Is that so.
Nope. If you picked the native skin API, all scheduler setup for a RT
task should be done through that interface.
>
> Cant i just have context switch between the tasks themselves say low
> priority and a high priority task created by rt_task_create.
>
> Reason being i have created two tasks using the rt_task_create API and
my
> high priority task is runnning and my low priority task has slept, so as
> soon as my low priority task has expired its sleep time and gets ready
to
> run,
>
> The low priority task preempts my high priority task and even its
priority
> gets raised to that of the high priority task and starts executing. The
> higgh priority task gets suspended altogether amidst its running. Simply
> baffled by the behavior?
If you have found a weird behaviour of Xenomai, please post some
as-small-as-possible demo code that exposes the issue. We will have a
look at it.
Jan
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