forked from Imagelibrary/rtems
38b59a6d30
The current implementation of task migration in RTEMS has some implications with respect to the interrupt latency. It is crucial to preserve the system invariant that a task can execute on at most one processor in the system at a time. This is accomplished with a boolean indicator in the task context. The processor architecture specific low-level task context switch code will mark that a task context is no longer executing and waits that the heir context stopped execution before it restores the heir context and resumes execution of the heir task. So there is one point in time in which a processor is without a task. This is essential to avoid cyclic dependencies in case multiple tasks migrate at once. Otherwise some supervising entity is necessary to prevent life-locks. Such a global supervisor would lead to scalability problems so this approach is not used. Currently the thread dispatch is performed with interrupts disabled. So in case the heir task is currently executing on another processor then this prolongs the time of disabled interrupts since one processor has to wait for another processor to make progress. It is difficult to avoid this issue with the interrupt latency since interrupts normally store the context of the interrupted task on its stack. In case a task is marked as not executing we must not use its task stack to store such an interrupt context. We cannot use the heir stack before it stopped execution on another processor. So if we enable interrupts during this transition we have to provide an alternative task independent stack for this time frame. This issue needs further investigation.
267 lines
8.4 KiB
C
267 lines
8.4 KiB
C
/*
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* Copyright (c) 2014 embedded brains GmbH. All rights reserved.
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*
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* embedded brains GmbH
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* Dornierstr. 4
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* 82178 Puchheim
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* Germany
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* <rtems@embedded-brains.de>
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*
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* The license and distribution terms for this file may be
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* found in the file LICENSE in this distribution or at
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* http://www.rtems.org/license/LICENSE.
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <rtems.h>
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#include <rtems/libcsupport.h>
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#include "tmacros.h"
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const char rtems_test_name[] = "SMPSCHEDULER 2";
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#if defined(__RTEMS_HAVE_SYS_CPUSET_H__)
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#define SCHED_A rtems_build_name(' ', ' ', ' ', 'A')
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#define SCHED_B rtems_build_name(' ', ' ', ' ', 'B')
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#define SCHED_C rtems_build_name(' ', ' ', ' ', 'C')
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static rtems_id main_task_id;
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static void task(rtems_task_argument arg)
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{
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rtems_status_code sc;
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(void) arg;
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rtems_test_assert(rtems_get_current_processor() == 1);
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sc = rtems_event_transient_send(main_task_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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while (1) {
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/* Do nothing */
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}
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}
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static void test(void)
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{
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rtems_status_code sc;
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rtems_id task_id;
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rtems_id scheduler_id;
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rtems_id scheduler_a_id;
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rtems_id scheduler_b_id;
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rtems_id scheduler_c_id;
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cpu_set_t cpuset;
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cpu_set_t first_cpu;
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cpu_set_t second_cpu;
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cpu_set_t all_cpus;
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main_task_id = rtems_task_self();
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CPU_ZERO(&first_cpu);
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CPU_SET(0, &first_cpu);
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CPU_ZERO(&second_cpu);
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CPU_SET(1, &second_cpu);
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CPU_ZERO(&all_cpus);
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CPU_SET(0, &all_cpus);
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CPU_SET(1, &all_cpus);
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rtems_test_assert(rtems_get_current_processor() == 0);
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sc = rtems_scheduler_ident(SCHED_A, &scheduler_a_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_scheduler_ident(SCHED_B, &scheduler_b_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(scheduler_a_id != scheduler_b_id);
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sc = rtems_scheduler_ident(SCHED_C, &scheduler_c_id);
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rtems_test_assert(sc == RTEMS_UNSATISFIED);
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CPU_ZERO(&cpuset);
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sc = rtems_scheduler_get_processor_set(
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scheduler_a_id,
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sizeof(cpuset),
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&cpuset
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);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(CPU_EQUAL(&cpuset, &first_cpu));
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CPU_ZERO(&cpuset);
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sc = rtems_scheduler_get_processor_set(
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scheduler_b_id,
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sizeof(cpuset),
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&cpuset
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);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(CPU_EQUAL(&cpuset, &second_cpu));
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sc = rtems_task_create(
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rtems_build_name('T', 'A', 'S', 'K'),
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1,
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RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES,
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&task_id
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);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_task_get_scheduler(task_id, &scheduler_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(scheduler_id == scheduler_a_id);
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CPU_ZERO(&cpuset);
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sc = rtems_task_get_affinity(task_id, sizeof(cpuset), &cpuset);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(CPU_EQUAL(&cpuset, &first_cpu));
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sc = rtems_task_set_scheduler(task_id, scheduler_b_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_task_set_scheduler(task_id, scheduler_b_id + 1);
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rtems_test_assert(sc == RTEMS_INVALID_ID);
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sc = rtems_task_get_scheduler(task_id, &scheduler_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(scheduler_id == scheduler_b_id);
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CPU_ZERO(&cpuset);
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sc = rtems_task_get_affinity(task_id, sizeof(cpuset), &cpuset);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(CPU_EQUAL(&cpuset, &second_cpu));
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sc = rtems_task_set_affinity(task_id, sizeof(all_cpus), &all_cpus);
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rtems_test_assert(sc == RTEMS_INVALID_NUMBER);
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sc = rtems_task_set_affinity(task_id, sizeof(first_cpu), &first_cpu);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_task_get_scheduler(task_id, &scheduler_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(scheduler_id == scheduler_a_id);
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sc = rtems_task_set_affinity(task_id, sizeof(second_cpu), &second_cpu);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_task_get_scheduler(task_id, &scheduler_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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rtems_test_assert(scheduler_id == scheduler_b_id);
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sc = rtems_task_start(task_id, task, 0);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_task_set_scheduler(task_id, scheduler_b_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_event_transient_receive(RTEMS_WAIT, RTEMS_NO_TIMEOUT);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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sc = rtems_task_delete(task_id);
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rtems_test_assert(sc == RTEMS_SUCCESSFUL);
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}
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#else /* defined(__RTEMS_HAVE_SYS_CPUSET_H__) */
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static void test(void)
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{
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/* Nothing to do */
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}
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#endif /* defined(__RTEMS_HAVE_SYS_CPUSET_H__) */
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static void Init(rtems_task_argument arg)
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{
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rtems_resource_snapshot snapshot;
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TEST_BEGIN();
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rtems_resource_snapshot_take(&snapshot);
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test();
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rtems_test_assert(rtems_resource_snapshot_check(&snapshot));
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TEST_END();
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rtems_test_exit(0);
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}
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#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_SMP_APPLICATION
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/* Lets see when the first RTEMS system hits this limit */
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#define CONFIGURE_SMP_MAXIMUM_PROCESSORS 64
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#define CONFIGURE_MAXIMUM_PRIORITY 255
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#define CONFIGURE_SCHEDULER_PRIORITY_SMP
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#define CONFIGURE_SCHEDULER_SIMPLE_SMP
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#include <rtems/scheduler.h>
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RTEMS_SCHEDULER_CONTEXT_PRIORITY_SMP(a, CONFIGURE_MAXIMUM_PRIORITY + 1);
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RTEMS_SCHEDULER_CONTEXT_PRIORITY_SMP(b, CONFIGURE_MAXIMUM_PRIORITY + 1);
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RTEMS_SCHEDULER_CONTEXT_SIMPLE_SMP(c);
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#define CONFIGURE_SCHEDULER_CONTROLS \
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RTEMS_SCHEDULER_CONTROL_PRIORITY_SMP(a, SCHED_A), \
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RTEMS_SCHEDULER_CONTROL_PRIORITY_SMP(b, SCHED_B), \
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RTEMS_SCHEDULER_CONTROL_SIMPLE_SMP(c, SCHED_C)
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#define CONFIGURE_SMP_SCHEDULER_ASSIGNMENTS \
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RTEMS_SCHEDULER_ASSIGN(0, RTEMS_SCHEDULER_ASSIGN_PROCESSOR_MANDATORY), \
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RTEMS_SCHEDULER_ASSIGN(1, RTEMS_SCHEDULER_ASSIGN_PROCESSOR_MANDATORY), \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN_NO_SCHEDULER, \
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RTEMS_SCHEDULER_ASSIGN(2, RTEMS_SCHEDULER_ASSIGN_PROCESSOR_OPTIONAL)
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#define CONFIGURE_MAXIMUM_TASKS 2
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#define CONFIGURE_INITIAL_EXTENSIONS RTEMS_TEST_INITIAL_EXTENSION
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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
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#define CONFIGURE_INIT
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#include <rtems/confdefs.h>
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