| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2012/10/04
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| 6 | // filename: Thread_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe implementant un thread rt ou non
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Thread_impl.h"
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| 19 | #include "Thread.h"
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| 20 | #include "IODevice.h"
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| 21 | #include "IODevice_impl.h"
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| 22 | #include "ConditionVariable.h"
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| 23 | #include "config.h"
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| 24 | #include "FrameworkManager.h"
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| 25 | #include <string.h>
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| 26 | #ifdef __XENO__
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| 27 | #include <rtdk.h>
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| 28 | #else
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| 29 | #include <sys/resource.h>
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| 30 | #endif
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| 31 |
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| 32 | using std::string;
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| 33 | using namespace flair::core;
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| 34 |
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| 35 | Thread_impl::Thread_impl(Thread* self,uint8_t priority)
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| 36 | {
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| 37 | isRunning=false;
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| 38 | tobestopped=false;
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| 39 | is_suspended=false;
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| 40 | period_set=false;
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| 41 |
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| 42 | this->self=self;
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| 43 | cond=new ConditionVariable(self,self->ObjectName());
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| 44 |
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| 45 | if(priority<MIN_THREAD_PRIORITY)
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| 46 | {
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| 47 | priority=MIN_THREAD_PRIORITY;
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| 48 | // printf("Thread::Thread, %s: priority set to %i\n",self->ObjectName().c_str(), priority);
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| 49 | }
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| 50 | if(priority>MAX_THREAD_PRIORITY)
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| 51 | {
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| 52 | priority=MAX_THREAD_PRIORITY;
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| 53 | self->Warn("priority set to %i\n",MAX_THREAD_PRIORITY);
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| 54 | }
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| 55 |
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| 56 | this->priority=priority;
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| 57 | period=100*1000*1000;//100ms par defaut
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| 58 | min_jitter=1000*1000*1000;
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| 59 | max_jitter=0;
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| 60 | mean_jitter=0;
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| 61 | last=0;
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| 62 | cpt=0;
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| 63 | }
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| 64 |
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| 65 | Thread_impl::~Thread_impl()
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| 66 | {
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| 67 | SafeStop();
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| 68 | Join();
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| 69 | }
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| 70 |
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| 71 | void Thread_impl::Start(void)
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| 72 | {
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| 73 | int status;
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| 74 |
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| 75 | isRunning=true;
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| 76 |
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| 77 | #ifdef __XENO__
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| 78 | string th_name=getFrameworkManager()->ObjectName()+ "-" + self->ObjectName();
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| 79 |
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| 80 | #ifdef RT_STACK_SIZE
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| 81 | status=rt_task_create(&task_rt, th_name.c_str(), RT_STACK_SIZE, (int)priority, T_JOINABLE);
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| 82 | #else
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| 83 | status=rt_task_create(&task_rt, th_name.c_str(), 0,(int)priority, T_JOINABLE);
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| 84 | #endif //RT_STACK_SIZE
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| 85 | if(status!=0)
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| 86 | {
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| 87 | self->Err("rt_task_create error (%s)\n",strerror(-status));
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| 88 | }
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| 89 | else
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| 90 | {
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| 91 | //_printf("rt_task_create ok %s\n",th_name);
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| 92 | }
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| 93 |
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| 94 | status=rt_task_start(&task_rt, &main_rt, (void*)this);
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| 95 | if(status!=0)
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| 96 | {
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| 97 | self->Err("rt_task_start error (%s)\n",strerror(-status));
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| 98 | }
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| 99 | else
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| 100 | {
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| 101 | //_printf("rt_task_start ok %s\n",th_name);
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| 102 | }
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| 103 |
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| 104 | // Initialise the rt_print buffer for this task explicitly
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| 105 | rt_print_init(512, th_name.c_str());
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| 106 |
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| 107 | #else //__XENO__
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| 108 |
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| 109 | // Initialize thread creation attributes
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| 110 | pthread_attr_t attr;
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| 111 | if(pthread_attr_init(&attr) != 0)
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| 112 | {
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| 113 | self->Err("Error pthread_attr_init\n");
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| 114 | }
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| 115 |
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| 116 | #ifdef NRT_STACK_SIZE
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| 117 | if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0)
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| 118 | {
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| 119 | self->Err("Error pthread_attr_setstacksize\n");
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| 120 | }
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| 121 | #endif //NRT_STACK_SIZE
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| 122 |
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| 123 | if(pthread_attr_setinheritsched(&attr,PTHREAD_EXPLICIT_SCHED)!=0)
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| 124 | {
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| 125 | self->Err("Error pthread_attr_setinheritsched\n");
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| 126 | }
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| 127 |
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| 128 | if(pthread_attr_setschedpolicy(&attr, SCHED_FIFO)!=0)
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| 129 | {
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| 130 | self->Err("Error pthread_attr_setschedpolicy\n");
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| 131 | }
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| 132 |
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| 133 | struct sched_param parm;
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| 134 | parm.sched_priority = priority;
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| 135 | if(pthread_attr_setschedparam(&attr,&parm)!=0)
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| 136 | {
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| 137 | self->Err("Error pthread_attr_setschedparam\n");
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| 138 | }
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| 139 |
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| 140 | next_time=GetTime()+period;
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| 141 |
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| 142 | if(pthread_create(&task_nrt, &attr, main_nrt, (void*)this) != 0)
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| 143 | {
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| 144 | self->Err("pthread_create error\n");
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| 145 | }
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| 146 |
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| 147 | if(pthread_attr_destroy(&attr) != 0)
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| 148 | {
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| 149 | self->Err("Error pthread_attr_destroy\n");
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| 150 | }
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| 151 |
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| 152 | #endif //__XENO__
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| 153 | }
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| 154 |
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| 155 | #ifdef __XENO__
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| 156 | void Thread_impl::main_rt(void * arg)
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| 157 | {
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| 158 | Thread_impl *caller = (Thread_impl*)arg;
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| 159 |
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| 160 | // Perform auto-init of rt_print buffers if the task doesn't do so
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| 161 | rt_print_auto_init(1);
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| 162 |
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| 163 | caller->self->Run();
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| 164 |
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| 165 | caller->PrintStats();
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| 166 | }
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| 167 | #else
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| 168 | void* Thread_impl::main_nrt(void * arg)
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| 169 | {
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| 170 | Thread_impl *caller = (Thread_impl*)arg;
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| 171 |
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| 172 | caller->self->Run();
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| 173 |
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| 174 | caller->PrintStats();
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| 175 |
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| 176 | pthread_exit(0);
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| 177 | }
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| 178 | #endif //__XENO__
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| 179 |
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| 180 | void Thread_impl::SetPeriodUS(uint32_t period) {
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| 181 | if(period==0) {
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| 182 | self->Err("Period must be>0\n");
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| 183 | return;
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| 184 | }
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| 185 |
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| 186 | #ifdef __XENO__
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| 187 | int status=rt_task_set_periodic(&task_rt, TM_NOW, period*1000);
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| 188 | if(status!=0) self->Err("Error rt_task_set_periodic %s\n",strerror(-status));
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| 189 | #else
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| 190 | next_time-=period;
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| 191 | next_time+=period*1000;
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| 192 | #endif
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| 193 | this->period=period*1000;
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| 194 | period_set=true;
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| 195 | }
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| 196 |
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| 197 | uint32_t Thread_impl::GetPeriodUS() const {
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| 198 | return this->period/1000;
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| 199 | }
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| 200 |
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| 201 | void Thread_impl::SetPeriodMS(uint32_t period) {
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| 202 | if(period==0) {
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| 203 | self->Err("Period must be>0\n");
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| 204 | return;
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| 205 | }
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| 206 |
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| 207 | #ifdef __XENO__
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| 208 | int status=rt_task_set_periodic(&task_rt, TM_NOW, period*1000*1000);
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| 209 | if(status!=0) self->Err("Error rt_task_set_periodic %s\n",strerror(-status));
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| 210 | #else
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| 211 | next_time-=period;
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| 212 | next_time+=period*1000*1000;
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| 213 | #endif
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| 214 | this->period=period*1000*1000;
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| 215 | period_set=true;
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| 216 | }
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| 217 |
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| 218 | uint32_t Thread_impl::GetPeriodMS() const {
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| 219 | return this->period/1000/1000;
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| 220 | }
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| 221 |
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| 222 | void Thread_impl::WaitPeriod(void)
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| 223 | {
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| 224 | if(period_set==false)
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| 225 | {
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| 226 | self->Err("Period must be set befaore calling this method\n");
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| 227 | return;
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| 228 | }
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| 229 | #ifdef __XENO__
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| 230 | unsigned long overruns_r;
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| 231 | int status=rt_task_wait_period(&overruns_r);
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| 232 | if(status!=0) self->Err("Error rt_task_wait_period %s\n",strerror(-status));
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| 233 | if(status==-ETIMEDOUT) self->Err("overrun: %lld\n",overruns_r);
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| 234 | #else
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| 235 | self->SleepUntil(next_time);
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| 236 | next_time+=period;
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| 237 | #endif
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| 238 | ComputeJitter(GetTime());
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| 239 | }
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| 240 |
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| 241 |
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| 242 | void Thread_impl::Suspend(void) {
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| 243 | if(isRunning==false) {
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| 244 | self->Err("thread is not started\n");
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| 245 | return;
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| 246 | }
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| 247 |
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| 248 | cond->GetMutex(),
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| 249 | is_suspended=true;
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| 250 | cond->CondWait();
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| 251 | is_suspended=false;
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| 252 | cond->ReleaseMutex();
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| 253 | }
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| 254 |
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| 255 | bool Thread_impl::SuspendUntil(Time date) {
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| 256 | if(isRunning==false) {
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| 257 | self->Err("thread is not started\n");
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| 258 | return false;
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| 259 | }
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| 260 |
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| 261 | cond->GetMutex(),
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| 262 | is_suspended=true;
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| 263 | bool success=cond->CondWaitUntil(date);
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| 264 | is_suspended=false;
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| 265 | cond->ReleaseMutex();
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| 266 | return success;
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| 267 | }
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| 268 |
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| 269 | bool Thread_impl::IsSuspended(void)
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| 270 | {
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| 271 | bool result;
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| 272 |
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| 273 | cond->GetMutex();
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| 274 | result=is_suspended;
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| 275 | cond->ReleaseMutex();
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| 276 |
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| 277 | return result;
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| 278 | }
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| 279 |
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| 280 | void Thread_impl::Resume(void)
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| 281 | {
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| 282 | if(isRunning==false)
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| 283 | {
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| 284 | self->Err("thread is not started\n");
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| 285 | return;
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| 286 | }
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| 287 |
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| 288 | cond->GetMutex();
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| 289 | if(is_suspended==true)
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| 290 | {
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| 291 | cond->CondSignal();
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| 292 | }
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| 293 | else
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| 294 | {
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| 295 | self->Err("thread is not suspended\n");
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| 296 | }
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| 297 | cond->ReleaseMutex();
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| 298 | }
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| 299 |
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| 300 | int Thread_impl::WaitUpdate(const IODevice* device)
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| 301 | {
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| 302 | int status=0;
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| 303 |
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| 304 | if(IsSuspended()==true)
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| 305 | {
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| 306 | self->Err("thread is already supended\n");
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| 307 | status=-1;
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| 308 | }
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| 309 | else
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| 310 | {
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| 311 | cond->GetMutex();
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| 312 |
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| 313 | if(device->pimpl_->SetToWake(self)==0)
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| 314 | {
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| 315 | is_suspended=true;
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| 316 | cond->CondWait();
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| 317 | is_suspended=false;
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| 318 | }
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| 319 | else
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| 320 | {
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| 321 | self->Err("%s is already waiting an update\n",device->ObjectName().c_str());
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| 322 | status=-1;
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| 323 | }
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| 324 |
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| 325 | cond->ReleaseMutex();
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| 326 | }
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| 327 |
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| 328 | return status;
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| 329 | }
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| 330 |
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| 331 | void Thread_impl::PrintStats(void)
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| 332 | {
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| 333 | #ifdef __XENO__
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| 334 | RT_TASK_INFO info;
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| 335 |
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| 336 | int status=rt_task_inquire(NULL, &info);
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| 337 | if(status!=0)
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| 338 | {
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| 339 | self->Err("Error rt_task_inquire %s\n",strerror(-status));
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| 340 | }
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| 341 | else
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| 342 | #endif
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| 343 | {
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| 344 | #ifndef __XENO__
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| 345 | //if(last!=0)
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| 346 | #endif
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| 347 | {
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| 348 | Printf("Thread::%s :\n",self->ObjectName().c_str());
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| 349 | }
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| 350 | #ifdef __XENO__
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| 351 | Printf(" number of context switches: %i\n",info.ctxswitches);
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| 352 | Printf(" number of primary->secondary mode switch: %i\n",info.modeswitches);
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| 353 | //printf("number of page faults: %i\n",info.pagefaults);
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| 354 | Printf(" execution time (ms) in primary mode: %lld\n",info.exectime/1000000);
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| 355 | #else
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| 356 | /*
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| 357 | struct rusage r_usage;
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| 358 | getrusage(RUSAGE_THREAD,&r_usage);
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| 359 | printf(" memory usage = %ld\n",r_usage.ru_maxrss);
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| 360 | printf("RUSAGE :ru_utime => %lld [sec] : %lld [usec], :ru_stime => %lld [sec] : %lld [usec] \n",
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| 361 | (int64_t)r_usage.ru_utime.tv_sec, (int64_t)r_usage.ru_utime.tv_usec,
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| 362 | (int64_t)r_usage.ru_stime.tv_sec, (int64_t)r_usage.ru_stime.tv_usec);*/
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| 363 | #endif
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| 364 | if(last!=0)
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| 365 | {
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| 366 | Printf(" min jitter (ns): %lld\n",min_jitter);
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| 367 | Printf(" max jitter (ns): %lld\n",max_jitter);
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| 368 | Printf(" jitter moy (ns): %lld\n",mean_jitter/cpt);
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| 369 | Printf(" itertions: %lld\n",cpt);
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| 370 | }
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| 371 | }
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| 372 | }
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| 373 |
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| 374 | void Thread_impl::Join(void)
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| 375 | {
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| 376 | if(isRunning==true)
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| 377 | {
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| 378 | int status;
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| 379 |
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| 380 | #ifdef __XENO__
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| 381 | status=rt_task_join(&task_rt);
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| 382 | #else
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| 383 | status=pthread_join(task_nrt,NULL);
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| 384 | #endif
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| 385 | if(status!=0) self->Err("error %s\n",strerror(-status));
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| 386 | isRunning=false;
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| 387 | }
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| 388 | }
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| 389 |
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| 390 | void Thread_impl::ComputeJitter(Time time)
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| 391 | {
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| 392 | Time diff,delta;
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| 393 | diff=time-last;
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| 394 |
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| 395 | if(diff>=period)
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| 396 | {
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| 397 | delta=diff-period;
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| 398 | }
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| 399 | else
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| 400 | {
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| 401 | delta=period-diff;
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| 402 | }
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| 403 | //if(delta==0) rt_printf("%lld %lld\n",time,last);
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| 404 | last=time;
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| 405 | if(diff==time) return;
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| 406 |
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| 407 | if(delta>max_jitter) max_jitter=delta;
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| 408 | if(delta<min_jitter) min_jitter=delta;
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| 409 | mean_jitter+=delta;
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| 410 | cpt++;
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| 411 |
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| 412 | //Printf("Thread::%s jitter moy (ns): %lld\n",self->ObjectName().c_str(),mean_jitter/cpt);
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| 413 |
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| 414 | }
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| 415 |
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| 416 | void Thread_impl::SafeStop(void)
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| 417 | {
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| 418 | tobestopped=true;
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| 419 | if(IsSuspended()) Resume();
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| 420 | }
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| 421 |
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| 422 | bool Thread_impl::ToBeStopped(void)
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| 423 | {
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| 424 | return tobestopped;
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| 425 | }
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