source: flair-src/trunk/lib/FlairCore/src/Thread_impl.cpp@ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 6 years ago

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