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