sptests: rate monotonic scheduler overrun handling

Update #2795.

testsuites/sptests/Makefile.am

@@ -37,6 +37,7 @@ _SUBDIRS += spfatal29
 _SUBDIRS += spmutex01
 _SUBDIRS += spextensions01
 _SUBDIRS += spsysinit01
+_SUBDIRS += sprmsched01
 if HAS_SMP
 else
 _SUBDIRS += sp29

testsuites/sptests/configure.ac

@@ -245,5 +245,6 @@ sptimer_err02/Makefile
 spcpuset01/Makefile
 spregion_err01/Makefile
 sppartition_err01/Makefile
+sprmsched01/Makefile
 ])
 AC_OUTPUT

testsuites/sptests/sprmsched01/Makefile.am

@@ -0,0 +1,21 @@
+
+rtems_tests_PROGRAMS = sprmsched01
+sprmsched01_SOURCES = init.c tasks.c system.h
+	
+dist_rtems_tests_DATA = sprmsched01.scn
+dist_rtems_tests_DATA += sprmsched01.doc
+
+include $(RTEMS_ROOT)/make/custom/@RTEMS_BSP@.cfg
+include $(top_srcdir)/../automake/compile.am
+include $(top_srcdir)/../automake/leaf.am
+
+AM_CPPFLAGS += -I$(top_srcdir)/../support/include
+
+LINK_OBJS = $(sprmsched01_OBJECTS)
+LINK_LIBS = $(sprmsched01_LDLIBS)
+
+sprmsched01$(EXEEXT): $(sprmsched01_OBJECTS) $(sprmsched01_DEPENDENCIES)
+	@rm -f sprmsched01$(EXEEXT)
+	$(make-exe)
+
+include $(top_srcdir)/../automake/local.am

testsuites/sptests/sprmsched01/init.c

@@ -0,0 +1,70 @@
+/**
+ * @file sprmsched01/init.c
+ *
+ * @brief A init task body for sprmsched01 example.
+ *
+ */
+
+/*
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen.
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#define CONFIGURE_INIT
+#include "system.h"
+
+#include <rtems/rtems/tasksimpl.h>
+#include <rtems/test.h>
+#include <rtems/status-checks.h>
+
+const char rtems_test_name[] = "Rate Monotonic 01 - Overrun Test";
+
+/* Global variables */
+rtems_id   Task_id[ 2 ];         /* array of task ids */
+rtems_name Task_name[ 2 ];       /* array of task names */
+uint32_t tick_per_second;        /* time reference */
+int testnumber = 11;                  /* stop condition */
+
+rtems_task_priority Prio[3] = { 0, 2, 5 };
+
+rtems_task Init(
+	rtems_task_argument argument
+)
+{
+  uint32_t     index;
+  rtems_status_code status;
+
+  TEST_BEGIN();
+
+  tick_per_second = rtems_clock_get_ticks_per_second();
+  printf( "\nTicks per second in your system: %" PRIu32 "\n", tick_per_second );
+
+  Task_name[ 1 ] = rtems_build_name( 'T', 'A', '1', ' ' );
+  Task_name[ 2 ] = rtems_build_name( 'T', 'A', '2', ' ' );
+
+  /* Create two tasks */
+  for ( index = 1; index <= 2; index++ ){
+    status = rtems_task_create(
+      Task_name[ index ], Prio[index], RTEMS_MINIMUM_STACK_SIZE, RTEMS_DEFAULT_MODES,
+      RTEMS_DEFAULT_ATTRIBUTES, &Task_id[ index ]
+    );
+    directive_failed( status, "rtems_task_create loop" );
+  }
+
+
+  /* After creating the periods for tasks, start to run them sequencially. */
+  for ( index = 1; index <= 2; index++ ){
+    status = rtems_task_start( Task_id[ index ], Task, index);
+    directive_failed( status, "rtems_task_start loop");
+  }
+  status = rtems_task_delete( RTEMS_SELF );
+  directive_failed( status, "rtems_task_delete of RTEMS_SELF" );
+}
+

testsuites/sptests/sprmsched01/sprmsched01.doc

@@ -0,0 +1,33 @@
+#
+#   COPYRIGHT (c) 2016 Kuan-Hsun Chen.
+#
+#   The license and distribution terms for this file may be
+#   found in the file LICENSE in this distribution or at
+#   http://www.rtems.com/license/LICENSE.
+#
+
+This file describes the directives and concepts tested by this test set.
+
+test set name: sprmsched01
+
+directives:
+
+  - rtems_rate_monotonic_report_statistics()
+  - rtems_rate_monotonic_period()
+  - rtems_rate_monotonic_Postponed_num()
+  - _Rate_monotonic_Timeout()
+  - _Rate_monotonic_Renew_deadline()
+  - _Rate_monotonic_Release_postponedjob()
+  - _Rate_monotonic_Block_while_expired()
+
+
+concepts:
+
+  - Verify that watchdog deadline is renewed on time without shift via
+    _Rate_monotonic_Renew_deadline().
+  - Verify that postponed jobs are released with a correct number via
+    _Rate_monotonic_Release_postponedjob().
+  - Verify that rtems_rate_monotonic_report_statistics() reports correct number
+    of deadline misses.
+  - Verify that rtems_rate_monotonic_period() and
+    _Rate_monotonic_Block_while_expired() are operational.

testsuites/sptests/sprmsched01/sprmsched01.scn

@@ -0,0 +1,50 @@
+
+
+*** BEGIN OF TEST Rate Monotonic 01 - Overrun Test ***
+
+Ticks per second in your system: 1000
+Job 1 Task 1 starts at tick 13.
+                                        Job 1 Task 1 ends at tick 6021.
+Job 1 Task 2 starts at tick 6022.
+                                        Job 1 Task 2 ends at tick 7024.
+Job 2 Task 2 starts at tick 8022.
+                                        Job 2 Task 2 ends at tick 9023.
+Job 2 Task 1 starts at tick 10013.
+                                        Job 2 Task 1 ends at tick 16021.
+Job 3 Task 2 starts at tick 16023.
+                                        Job 3 Task 2 ends at tick 17024.
+RTEMS_TIMEOUT
+Job 4 Task 2 starts at tick 17025.
+                                        Job 4 Task 2 ends at tick 18026.
+Job 5 Task 2 starts at tick 18026.
+                                        Job 5 Task 2 ends at tick 19027.
+Job 6 Task 2 starts at tick 19028.
+                                        Job 6 Task 2 ends at tick 20029.
+Job 7 Task 2 starts at tick 20029.
+                                        Job 7 Task 2 ends at tick 21031.
+Job 8 Task 2 starts at tick 21031.
+                                        Job 8 Task 2 ends at tick 22033.
+Job 9 Task 2 starts at tick 22033.
+                                        Job 9 Task 2 ends at tick 23035.
+RTEMS_SUCCESSFUL
+Job 10 Task 2 starts at tick 24022.
+                                        Job 10 Task 2 ends at tick 25023.
+Job 11 Task 2 starts at tick 26022.
+                                        Job 11 Task 2 ends at tick 27024.
+Job 12 Task 2 starts at tick 28022.
+                                        Job 12 Task 2 ends at tick 29024.
+Job 13 Task 2 starts at tick 30022.
+                                        Job 13 Task 2 ends at tick 31023.
+Job 14 Task 2 starts at tick 32022.
+                                        Job 14 Task 2 ends at tick 33023.
+Job 15 Task 2 starts at tick 34022.
+                                        Job 15 Task 2 ends at tick 35023.
+Job 16 Task 2 starts at tick 36022.
+                                        Job 16 Task 2 ends at tick 37023.
+Period information by period
+--- CPU times are in seconds ---
+--- Wall times are in seconds ---
+   ID     OWNER COUNT MISSED          CPU TIME                  WALL TIME
+                                    MIN/MAX/AVG                MIN/MAX/AVG
+0x42010002 TA2     15      6 1.001686/7.012146/2.404131 1.001698/13.013378/5.204723
+*** END OF TEST Rate Monotonic 01 ***

testsuites/sptests/sprmsched01/system.h

@@ -0,0 +1,61 @@
+/**
+ * @file sprmsched01/system.h
+ *
+ * @brief sprmsched01 example header
+ */
+
+/*
+ *  COPYRIGHT (c) 1989-2007.
+ *  On-Line Applications Research Corporation (OAR).
+ *
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen.
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+
+#include <inttypes.h>
+#include <rtems.h>
+
+#include <tmacros.h>
+
+/* function prototypes */
+
+rtems_task Init(
+  rtems_task_argument argument
+);
+
+rtems_task Task(
+  rtems_task_argument argument
+);
+
+
+/*
+ *  Keep the names and IDs in global variables so another task can use them.
+ */
+
+extern rtems_id   Task_id[ 2 ];         /* array of task ids */
+extern rtems_name Task_name[ 2 ];       /* array of task names */
+extern uint32_t tick_per_second;        /* time reference */
+extern int testnumber;                  /* stop condition */
+
+/* configuration information */
+
+#include <bsp.h> /* for device driver prototypes */
+
+#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
+#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+#define CONFIGURE_MICROSECONDS_PER_TICK     1000   // NB: 10 and lower gives system failure for erc32 simulator
+#define CONFIGURE_MAXIMUM_TASKS             3
+#define CONFIGURE_MAXIMUM_SEMAPHORES        1
+#define CONFIGURE_MAXIMUM_PRIORITY          15
+#define CONFIGURE_EXTRA_TASK_STACKS         (20 * RTEMS_MINIMUM_STACK_SIZE)
+#define CONFIGURE_MAXIMUM_PERIODS           3
+
+#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
+
+#include <rtems/confdefs.h>
+
+/* end of include file */

testsuites/sptests/sprmsched01/tasks.c

@@ -0,0 +1,112 @@
+/**
+ * @file sprmsched01/tasks.c
+ *
+ * @brief A heuristic example to demonstrate how the postponed jobs are handled.
+ *
+ * Given two tasks with implicit deadline under fixed-priority scheudling.
+ * Task 1 has (6, 10) and task 2 has (1, 2), where (execution time, deadline/period).
+ * To force deadline misses, we reverse the rate-monotonic priority assignment
+ * and only execute the highest priority task twice.
+ *
+ * In the original implementation in v4.11, no matter how many periods are
+ * expired, RMS manager only releases a job with a shifted deadline assignment
+ * in the watchdog. As the results written in sprmsched01.scn, we can see that
+ * the timeout of task 2 period will be detected right after Job3 of Task2 is finished.
+ * If the overrun handling is correct, the status of task 2 period will return back to
+ * RTEMS_SUCCESSFUL after periodically releasing those postponed jobs (the last one is Job 9).
+ *
+ * Otherwise, we can see that the release time of Job 4 is no longer periodic,
+ * and the RTEMS returns back to RTEMS_SUCCESSFUL right after Job 4 is finished
+ * without releasing all the other postponed jobs.
+ *
+ */
+
+/*
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen.
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "system.h"
+
+/* CPU usage and Rate monotonic manger statistics */
+#include "rtems/cpuuse.h"
+#include "rtems/counter.h"
+
+/* Periods for the various tasks [ticks] */
+uint32_t Periods[3] = { 0, 10000, 2000 };
+uint32_t Iterations[3] = { 0, 6000, 1000 };
+uint32_t tsk_counter[3] = { 0, 0, 0 };
+
+/**
+ * @brief Task body
+ */
+rtems_task Task(
+  rtems_task_argument argument
+)
+{
+  rtems_status_code status;
+  rtems_id    RM_period;
+  rtems_id    selfid=rtems_task_self();
+  uint32_t    start, end, flag=0, index;
+  rtems_counter_ticks t0;
+
+  t0 = rtems_counter_nanoseconds_to_ticks( 1000000 ); //1ms ticks counter
+  /*create period*/
+  status = rtems_rate_monotonic_create( argument, &RM_period );
+  directive_failed( status, "rtems_rate_monotonic_create" );
+
+  switch ( argument ) {
+    case 1:
+    case 2:
+      while ( FOREVER ) {
+        status = rtems_rate_monotonic_period( RM_period, Periods[ argument ] );
+        //directive_failed( status, "rtems_rate_monotonic_period" ); let TIMEOUT pass
+        if( argument == 2 && flag == 0 && status == RTEMS_TIMEOUT ){
+          flag = 1;
+          printf( "RTEMS_TIMEOUT\n" );
+        } else if ( flag == 1 && status == RTEMS_SUCCESSFUL ) {
+          flag = 0;
+          printf( "RTEMS_SUCCESSFUL\n" );
+        }
+
+        start = rtems_clock_get_ticks_since_boot();
+        if ( argument == 2 )
+          printf( "Job %d Task %d starts at tick %d.\n", tsk_counter[ argument ]+1, argument, start );
+        else
+          printf( "Task %d starts at tick %d.\n", argument, start );
+        for( index = 0; index < Iterations[ argument ]; index++ ){
+          rtems_counter_delay_ticks( t0 );
+        }
+        end = rtems_clock_get_ticks_since_boot();
+        printf( "					Job %d Task %d ends at tick %d.\n", tsk_counter[ argument ]+1, argument, end );
+        if( argument == 2 ){
+          if( tsk_counter[ argument ] == testnumber ){
+            TEST_END();
+            status = rtems_rate_monotonic_delete( RM_period );
+            directive_failed( status, "rtems_rate_monotonic_delete" );
+            rtems_test_exit( 0 );
+          }
+        }
+
+        tsk_counter[ argument ]+=1;
+        if ( argument == 1 ){
+          if( tsk_counter[ argument ] == 2 ){
+				    status = rtems_rate_monotonic_delete( RM_period );
+            directive_failed( status, "rtems_rate_monotonic_delete" );
+            status = rtems_task_delete( selfid );
+            directive_failed( status, "rtems_task_delete" );
+          }
+        }
+      }
+      break;
+
+  }
+}
+