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559 lines
17 KiB
559 lines
17 KiB
/**************************************************************************** |
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* examples/ostest/prioinherit.c |
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* |
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* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**************************************************************************** |
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* Included Files |
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****************************************************************************/ |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <semaphore.h> |
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#include <pthread.h> |
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#include <errno.h> |
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#ifdef CONFIG_ARCH_SIM |
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# include <nuttx/arch.h> |
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#endif |
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#include "ostest.h" |
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#if defined(CONFIG_PRIORITY_INHERITANCE) && !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD) |
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/**************************************************************************** |
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* Definitions |
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****************************************************************************/ |
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#ifndef CONFIG_SEM_PREALLOCHOLDERS |
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# define CONFIG_SEM_PREALLOCHOLDERS 0 |
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#endif |
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/* If resources were configured for lots of holders, then run 3 low priority |
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* threads. Otherwise, just one. |
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*/ |
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#if CONFIG_SEM_PREALLOCHOLDERS > 3 |
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# define NLOWPRI_THREADS 3 |
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#else |
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# define NLOWPRI_THREADS 1 |
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#endif |
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#ifndef CONFIG_SEM_NNESTPRIO |
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# define CONFIG_SEM_NNESTPRIO 0 |
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#endif |
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/* Where resources configured for lots of waiters? If so then run 3 high |
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* priority threads. Otherwise, just one. |
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*/ |
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#if CONFIG_SEM_NNESTPRIO > 3 |
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# define NHIGHPRI_THREADS 3 |
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#else |
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# define NHIGHPRI_THREADS 1 |
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#endif |
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/**************************************************************************** |
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* Private Data |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Functions |
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****************************************************************************/ |
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enum thstate_e |
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{ |
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NOTSTARTED = 0, |
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RUNNING, |
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WAITING, |
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DONE |
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}; |
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static sem_t g_sem; |
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static volatile enum thstate_e g_middlestate; |
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static volatile enum thstate_e g_highstate[NHIGHPRI_THREADS]; |
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static volatile enum thstate_e g_lowstate[NLOWPRI_THREADS]; |
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static int g_highpri; |
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static int g_medpri; |
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static int g_lowpri; |
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/**************************************************************************** |
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* Name: nhighpri_waiting |
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****************************************************************************/ |
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static int nhighpri_waiting(void) |
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{ |
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int n = 0; |
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int i; |
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for (i = 0; i < NHIGHPRI_THREADS; i++) |
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{ |
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if (g_highstate[i] == WAITING) |
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{ |
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n++; |
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} |
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} |
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return n; |
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} |
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/**************************************************************************** |
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* Name: nhighpri_running |
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****************************************************************************/ |
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static int nhighpri_running(void) |
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{ |
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int n = 0; |
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int i; |
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for (i = 0; i < NHIGHPRI_THREADS; i++) |
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{ |
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if (g_highstate[i] != DONE) |
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{ |
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n++; |
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} |
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} |
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return n; |
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} |
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/**************************************************************************** |
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* Name: highpri_thread |
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****************************************************************************/ |
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static void *highpri_thread(void *parameter) |
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{ |
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int threadno = (int)parameter; |
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int ret; |
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g_highstate[threadno-1] = RUNNING; |
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printf("highpri_thread-%d: Started\n", threadno); |
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FFLUSH(); |
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sleep(1); |
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printf("highpri_thread-%d: Calling sem_wait()\n", threadno); |
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g_highstate[threadno-1] = WAITING; |
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ret = sem_wait(&g_sem); |
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g_highstate[threadno-1] = DONE; |
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if (ret != 0) |
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{ |
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printf("highpri_thread-%d: sem_take failed: %d\n", threadno, ret); |
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} |
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else if (g_middlestate == RUNNING) |
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{ |
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printf("highpri_thread-%d: SUCCESS midpri_thread is still running!\n", threadno); |
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} |
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else |
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{ |
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printf("highpri_thread-%d: ERROR -- midpri_thread has already exited!\n", threadno); |
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} |
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sem_post(&g_sem); |
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printf("highpri_thread-%d: Okay... I'm done!\n", threadno); |
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FFLUSH(); |
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return NULL; |
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} |
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/**************************************************************************** |
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* Name: hog_cpu |
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****************************************************************************/ |
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static inline void hog_cpu(void) |
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{ |
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#ifdef CONFIG_ARCH_SIM |
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/* The simulator doesn't have any mechanism to do asynchronous pre-emption |
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* (basically because it doesn't have any interupts/asynchronous events). |
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* The simulator does "fake" a timer interrupt in up_idle() -- the idle |
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* thread that only executes when nothing else is running. In the simulator, |
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* we cannot suspend the middle priority task, or we wouldn't have the |
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* test that we want. So, we have no option but to pump the fake clock |
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* here by calling up_idle(). Sigh! |
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*/ |
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up_idle(); |
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#else |
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/* On real platforms with a real timer interrupt, we really can hog the |
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* CPU. When the sleep() goes off in priority_inheritance(), it will |
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* wake up and start the high priority thread. |
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*/ |
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volatile int i; |
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for (i = 0; i < INT_MAX; i++); |
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#endif |
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} |
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/**************************************************************************** |
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* Name: medpri_thread |
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****************************************************************************/ |
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static void *medpri_thread(void *parameter) |
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{ |
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printf("medpri_thread: Started ... I won't let go of the CPU!\n"); |
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g_middlestate = RUNNING; |
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FFLUSH(); |
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/* The following loop will completely block lowpri_thread from running. |
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* UNLESS priority inheritance is working. In that case, its priority |
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* will be boosted. |
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*/ |
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while (nhighpri_running() > 0) |
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{ |
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hog_cpu(); |
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} |
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printf("medpri_thread: Okay... I'm done!\n"); |
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FFLUSH(); |
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g_middlestate = DONE; |
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return NULL; |
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} |
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/**************************************************************************** |
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* Name: lowpri_thread |
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****************************************************************************/ |
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static void *lowpri_thread(void *parameter) |
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{ |
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void *retval = (void*)-1; |
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struct sched_param sparam; |
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int threadno = (int)parameter; |
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int expected; |
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int count; |
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int policy; |
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int ret; |
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int nwaiting; |
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int i; |
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g_lowstate[threadno-1] = RUNNING; |
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printf("lowpri_thread-%d: Started\n", threadno); |
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ret = pthread_getschedparam(pthread_self(), &policy, &sparam); |
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if (ret != 0) |
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{ |
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printf("lowpri_thread-%d: ERROR pthread_getschedparam failed: %d\n", threadno, ret); |
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} |
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else |
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{ |
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printf("lowpri_thread-%d: initial priority: %d\n", threadno, sparam.sched_priority); |
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if (sparam.sched_priority != g_lowpri) |
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{ |
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printf(" ERROR should have been %d\n", g_lowpri); |
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} |
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} |
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g_lowstate[threadno-1] = WAITING; |
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ret = sem_wait(&g_sem); |
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if (ret != 0) |
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{ |
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printf("lowpri_thread-%d: sem_take failed: %d\n", threadno, ret); |
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} |
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else |
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{ |
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/* Hang on to the thread until the middle priority thread runs */ |
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while (g_middlestate == NOTSTARTED && nhighpri_waiting() < NHIGHPRI_THREADS) |
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{ |
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printf("lowpri_thread-%d: Waiting for the midle pri task to run\n", threadno); |
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printf(" g_middlestate: %d\n", (int)g_middlestate); |
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for (i = 0; i < NHIGHPRI_THREADS; i++) |
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{ |
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printf(" g_highstate[%d]: %d\n", i, (int)g_highstate[i]); |
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} |
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printf(" I still have a count on the semaphore\n"); |
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sem_enumholders(&g_sem); |
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FFLUSH(); |
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sleep(1); |
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} |
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/* Account for all of the semaphore counts. At any given time if there are 'n' |
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* running hight prioity tasks, then the semaphore count should be '-n' |
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*/ |
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sched_lock(); /* Needs to be atomic */ |
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ret = sem_getvalue(&g_sem, &count); |
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nwaiting = nhighpri_waiting(); |
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sched_unlock(); |
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if (ret < 0) |
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{ |
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printf("lowpri_thread-%d: ERROR sem_getvalue failed: %d\n", threadno, errno); |
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} |
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printf("lowpri_thread-%d: Sem count: %d, No. highpri thread: %d\n", threadno, count, nwaiting); |
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/* The middle priority task is running, let go of the semaphore */ |
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if (g_middlestate == RUNNING && nwaiting == -count) |
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{ |
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/* Good.. the middle priority task is still running and the counts are okay. */ |
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retval = NULL; |
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} |
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else |
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{ |
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/* If the sem count is positive, then there all of the higher priority threads |
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* should have already completed. |
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*/ |
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printf("lowpri_thread-%d: %s the middle priority task has already exitted!\n", |
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threadno, count >= 0 ? "SUCCESS" : "ERROR" ); |
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printf(" g_middlestate: %d sem count=%d\n", (int)g_middlestate, count); |
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for (i = 0; i < NHIGHPRI_THREADS; i++) |
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{ |
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printf(" g_highstate[%d]: %d\n", i, (int)g_highstate[i]); |
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} |
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} |
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} |
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ret = pthread_getschedparam(pthread_self(), &policy, &sparam); |
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sem_enumholders(&g_sem); |
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sem_post(&g_sem); |
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if (ret != 0) |
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{ |
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printf("lowpri_thread-%d: ERROR pthread_getschedparam failed: %d\n", threadno, ret); |
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} |
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else |
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{ |
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if (nwaiting > 0) |
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{ |
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expected = g_highpri; |
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} |
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else |
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{ |
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expected = g_lowpri; |
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} |
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printf("lowpri_thread-%d: %s priority before sem_post: %d\n", |
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threadno, |
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sparam.sched_priority != expected ? "ERROR" : "SUCCESS", |
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sparam.sched_priority); |
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if (sparam.sched_priority != expected) |
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{ |
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printf(" ERROR should have been %d\n", expected); |
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} |
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} |
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ret = pthread_getschedparam(pthread_self(), &policy, &sparam); |
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if (ret != 0) |
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{ |
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printf("lowpri_thread-%d: ERROR pthread_getschedparam failed: %d\n", threadno, ret); |
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} |
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else |
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{ |
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printf("lowpri_thread-%d: %s final priority: %d\n", |
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threadno, |
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sparam.sched_priority != g_lowpri ? "ERROR" : "SUCCESS", |
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sparam.sched_priority); |
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if (sparam.sched_priority != g_lowpri) |
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{ |
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printf(" ERROR should have been %d\n", g_lowpri); |
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} |
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} |
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sem_enumholders(&g_sem); |
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printf("lowpri_thread-%d: Okay... I'm done!\n", threadno); |
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FFLUSH(); |
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g_lowstate[threadno-1] = DONE; |
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return retval; |
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} |
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#endif /* CONFIG_PRIORITY_INHERITANCE && !CONFIG_DISABLE_SIGNALS && !CONFIG_DISABLE_PTHREAD */ |
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/**************************************************************************** |
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* Public Functions |
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****************************************************************************/ |
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/**************************************************************************** |
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* Name: priority_inheritance |
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****************************************************************************/ |
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void priority_inheritance(void) |
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{ |
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#if defined(CONFIG_PRIORITY_INHERITANCE) && !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD) |
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pthread_t lowpri[NLOWPRI_THREADS]; |
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pthread_t medpri; |
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pthread_t highpri[NHIGHPRI_THREADS]; |
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pthread_addr_t result; |
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pthread_attr_t attr; |
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struct sched_param sparam; |
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int my_pri; |
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int status; |
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int i; |
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printf("priority_inheritance: Started\n"); |
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g_middlestate = NOTSTARTED; |
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for (i = 0; i < NHIGHPRI_THREADS; i++) g_highstate[i] = NOTSTARTED; |
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for (i = 0; i < NLOWPRI_THREADS; i++) g_lowstate[i] = NOTSTARTED; |
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status = sched_getparam (getpid(), &sparam); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: sched_getparam failed\n"); |
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sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY; |
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} |
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my_pri = sparam.sched_priority; |
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g_highpri = sched_get_priority_max(SCHED_FIFO); |
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g_lowpri = sched_get_priority_min(SCHED_FIFO); |
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g_medpri = my_pri - 1; |
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sem_init(&g_sem, 0, NLOWPRI_THREADS); |
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dump_nfreeholders("priority_inheritance:"); |
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/* Start the low priority threads */ |
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for (i = 0; i < NLOWPRI_THREADS; i++) |
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{ |
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int threadno = i+1; |
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printf("priority_inheritance: Starting lowpri_thread-%d (of %d) at %d\n", |
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threadno, NLOWPRI_THREADS, g_lowpri); |
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status = pthread_attr_init(&attr); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: pthread_attr_init failed, status=%d\n", status); |
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} |
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sparam.sched_priority = g_lowpri; |
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status = pthread_attr_setschedparam(&attr,& sparam); |
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if (status != OK) |
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{ |
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printf("priority_inheritance: pthread_attr_setschedparam failed, status=%d\n", status); |
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} |
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else |
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{ |
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printf("priority_inheritance: Set lowpri_thread-%d priority to %d\n", |
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threadno, sparam.sched_priority); |
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} |
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status = pthread_create(&lowpri[i], &attr, lowpri_thread, (void*)threadno); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: pthread_create failed, status=%d\n", status); |
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} |
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} |
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printf("priority_inheritance: Waiting...\n"); |
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sleep(2); |
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dump_nfreeholders("priority_inheritance:"); |
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/* Start the medium priority thread */ |
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printf("priority_inheritance: Starting medpri_thread at %d\n", g_medpri); |
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status = pthread_attr_init(&attr); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: pthread_attr_init failed, status=%d\n", status); |
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} |
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sparam.sched_priority = g_medpri; |
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status = pthread_attr_setschedparam(&attr,& sparam); |
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if (status != OK) |
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{ |
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printf("priority_inheritance: pthread_attr_setschedparam failed, status=%d\n", status); |
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} |
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else |
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{ |
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printf("priority_inheritance: Set medpri_thread priority to %d\n", sparam.sched_priority); |
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} |
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FFLUSH(); |
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status = pthread_create(&medpri, &attr, medpri_thread, NULL); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: pthread_create failed, status=%d\n", status); |
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} |
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printf("priority_inheritance: Waiting...\n"); |
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sleep(1); |
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dump_nfreeholders("priority_inheritance:"); |
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/* Start the high priority threads */ |
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for (i = 0; i < NHIGHPRI_THREADS; i++) |
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{ |
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int threadno = i+1; |
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printf("priority_inheritance: Starting highpri_thread-%d (of %d) at %d\n", |
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threadno, NHIGHPRI_THREADS, g_highpri); |
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status = pthread_attr_init(&attr); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: pthread_attr_init failed, status=%d\n", status); |
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} |
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sparam.sched_priority = g_highpri - i; |
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status = pthread_attr_setschedparam(&attr,& sparam); |
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if (status != OK) |
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{ |
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printf("priority_inheritance: pthread_attr_setschedparam failed, status=%d\n", status); |
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} |
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else |
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{ |
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printf("priority_inheritance: Set highpri_thread-%d priority to %d\n", |
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threadno, sparam.sched_priority); |
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} |
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FFLUSH(); |
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status = pthread_create(&highpri[i], &attr, highpri_thread, (void*)threadno); |
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if (status != 0) |
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{ |
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printf("priority_inheritance: pthread_create failed, status=%d\n", status); |
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} |
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} |
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dump_nfreeholders("priority_inheritance:"); |
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FFLUSH(); |
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/* Wait for all thread instances to complete */ |
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for (i = 0; i < NHIGHPRI_THREADS; i++) |
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{ |
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printf("priority_inheritance: Waiting for highpri_thread-%d to complete\n", i+1); |
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FFLUSH(); |
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(void)pthread_join(highpri[i], &result); |
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dump_nfreeholders("priority_inheritance:"); |
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} |
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printf("priority_inheritance: Waiting for medpri_thread to complete\n"); |
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FFLUSH(); |
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(void)pthread_join(medpri, &result); |
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dump_nfreeholders("priority_inheritance:"); |
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for (i = 0; i < NLOWPRI_THREADS; i++) |
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{ |
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printf("priority_inheritance: Waiting for lowpri_thread-%d to complete\n", i+1); |
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FFLUSH(); |
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(void)pthread_join(lowpri[i], &result); |
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dump_nfreeholders("priority_inheritance:"); |
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} |
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printf("priority_inheritance: Finished\n"); |
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sem_destroy(&g_sem); |
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dump_nfreeholders("priority_inheritance:"); |
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FFLUSH(); |
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#endif /* CONFIG_PRIORITY_INHERITANCE && !CONFIG_DISABLE_SIGNALS && !CONFIG_DISABLE_PTHREAD */ |
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}
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