source: flair-src/trunk/lib/FlairCore/src/Thread_impl.cpp@ 20

Last change on this file since 20 was 20, checked in by Sanahuja Guillaume, 6 years ago

correction bug recpetion log et watchdog

File size: 9.1 KB
Line 
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 tobestopped = false;
73 is_suspended = false;
74
75#ifdef __XENO__
76 string th_name =
77 getFrameworkManager()->ObjectName() + "-" + self->ObjectName();
78
79#ifdef RT_STACK_SIZE
80 status = rt_task_create(&task_rt, th_name.c_str(), RT_STACK_SIZE,
81 (int)priority, T_JOINABLE);
82#else
83 status =
84 rt_task_create(&task_rt, th_name.c_str(), 0, (int)priority, T_JOINABLE);
85#endif // RT_STACK_SIZE
86 if (status != 0) {
87 self->Err("rt_task_create error (%s)\n", strerror(-status));
88 } else {
89 //_printf("rt_task_create ok %s\n",th_name);
90 }
91
92 status = rt_task_start(&task_rt, &main_rt, (void *)this);
93 if (status != 0) {
94 self->Err("rt_task_start error (%s)\n", strerror(-status));
95 } else {
96 //_printf("rt_task_start ok %s\n",th_name);
97 }
98
99 // Initialise the rt_print buffer for this task explicitly
100 rt_print_init(512, th_name.c_str());
101
102#else //__XENO__
103
104 // Initialize thread creation attributes
105 pthread_attr_t attr;
106 if (pthread_attr_init(&attr) != 0) {
107 self->Err("Error pthread_attr_init\n");
108 }
109
110#ifdef NRT_STACK_SIZE
111 if (pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0) {
112 self->Err("Error pthread_attr_setstacksize\n");
113 }
114#endif // NRT_STACK_SIZE
115
116 if (pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED) != 0) {
117 self->Err("Error pthread_attr_setinheritsched\n");
118 }
119
120 if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO) != 0) {
121 self->Err("Error pthread_attr_setschedpolicy\n");
122 }
123
124 struct sched_param parm;
125 parm.sched_priority = priority;
126 if (pthread_attr_setschedparam(&attr, &parm) != 0) {
127 self->Err("Error pthread_attr_setschedparam\n");
128 }
129
130 next_time = GetTime() + period;
131
132 if (pthread_create(&task_nrt, &attr, main_nrt, (void *)this) != 0) {
133 self->Err("pthread_create error\n");
134 }
135
136 if (pthread_attr_destroy(&attr) != 0) {
137 self->Err("Error pthread_attr_destroy\n");
138 }
139
140#endif //__XENO__
141}
142
143#ifdef __XENO__
144void Thread_impl::main_rt(void *arg) {
145 Thread_impl *caller = (Thread_impl *)arg;
146
147 // Perform auto-init of rt_print buffers if the task doesn't do so
148 rt_print_auto_init(1);
149
150 caller->self->Run();
151
152 caller->PrintStats();
153}
154#else
155void *Thread_impl::main_nrt(void *arg) {
156 Thread_impl *caller = (Thread_impl *)arg;
157
158 caller->self->Run();
159
160 caller->PrintStats();
161
162 pthread_exit(0);
163}
164#endif //__XENO__
165
166void Thread_impl::SetPeriodUS(uint32_t period) {
167 if (period == 0) {
168 self->Err("Period must be>0\n");
169 return;
170 }
171
172#ifdef __XENO__
173 int status = rt_task_set_periodic(&task_rt, TM_NOW, period * 1000);
174 if (status != 0)
175 self->Err("Error rt_task_set_periodic %s\n", strerror(-status));
176#else
177 next_time -= period;
178 next_time += period * 1000;
179#endif
180 this->period = period * 1000;
181 period_set = true;
182}
183
184uint32_t Thread_impl::GetPeriodUS() const { return this->period / 1000; }
185
186void Thread_impl::SetPeriodMS(uint32_t period) {
187 if (period == 0) {
188 self->Err("Period must be>0\n");
189 return;
190 }
191
192#ifdef __XENO__
193 int status = rt_task_set_periodic(&task_rt, TM_NOW, period * 1000 * 1000);
194 if (status != 0)
195 self->Err("Error rt_task_set_periodic %s\n", strerror(-status));
196#else
197 next_time -= period;
198 next_time += period * 1000 * 1000;
199#endif
200 this->period = period * 1000 * 1000;
201 period_set = true;
202}
203
204uint32_t Thread_impl::GetPeriodMS() const { return this->period / 1000 / 1000; }
205
206void Thread_impl::WaitPeriod(void) {
207 if (period_set == false) {
208 self->Err("Period must be set befaore calling this method\n");
209 return;
210 }
211#ifdef __XENO__
212 unsigned long overruns_r;
213 int status = rt_task_wait_period(&overruns_r);
214 if (status != 0)
215 self->Err("Error rt_task_wait_period %s\n", strerror(-status));
216 if (status == -ETIMEDOUT)
217 self->Err("overrun: %lld\n", overruns_r);
218#else
219 self->SleepUntil(next_time);
220 next_time += period;
221#endif
222 ComputeJitter(GetTime());
223}
224
225void Thread_impl::Suspend(void) {
226 if (isRunning == false) {
227 self->Err("thread is not started\n");
228 return;
229 }
230
231 cond->GetMutex(), is_suspended = true;
232 cond->CondWait();
233 is_suspended = false;
234 cond->ReleaseMutex();
235}
236
237bool Thread_impl::SuspendUntil(Time date) {
238 if (isRunning == false) {
239 self->Err("thread is not started\n");
240 return false;
241 }
242
243 cond->GetMutex(), is_suspended = true;
244 bool success = cond->CondWaitUntil(date);
245 is_suspended = false;
246 cond->ReleaseMutex();
247 return success;
248}
249
250bool Thread_impl::IsSuspended(void) {
251 bool result;
252
253 cond->GetMutex();
254 result = is_suspended;
255 cond->ReleaseMutex();
256
257 return result;
258}
259
260void Thread_impl::Resume(void) {
261 if (isRunning == false) {
262 self->Err("thread is not started\n");
263 return;
264 }
265
266 cond->GetMutex();
267 if (is_suspended == true) {
268 cond->CondSignal();
269 } else {
270 self->Err("thread is not suspended\n");
271 }
272 cond->ReleaseMutex();
273}
274
275int Thread_impl::WaitUpdate(const IODevice *device) {
276 int status = 0;
277
278 if (IsSuspended() == true) {
279 self->Err("thread is already supended\n");
280 status = -1;
281 } else {
282 cond->GetMutex();
283
284 if (device->pimpl_->SetToWake(self) == 0) {
285 is_suspended = true;
286 cond->CondWait();
287 is_suspended = false;
288 } else {
289 self->Err("%s is already waiting an update\n",
290 device->ObjectName().c_str());
291 status = -1;
292 }
293
294 cond->ReleaseMutex();
295 }
296
297 return status;
298}
299
300void Thread_impl::PrintStats(void) {
301#ifdef __XENO__
302 RT_TASK_INFO info;
303
304 int status = rt_task_inquire(NULL, &info);
305 if (status != 0) {
306 self->Err("Error rt_task_inquire %s\n", strerror(-status));
307 } else
308#endif
309 {
310#ifndef __XENO__
311// if(last!=0)
312#endif
313 { Printf("Thread::%s :\n", self->ObjectName().c_str()); }
314#ifdef __XENO__
315 Printf(" number of context switches: %i\n", info.ctxswitches);
316 Printf(" number of primary->secondary mode switch: %i\n",
317 info.modeswitches);
318 // printf("number of page faults: %i\n",info.pagefaults);
319 Printf(" execution time (ms) in primary mode: %lld\n",
320 info.exectime / 1000000);
321#else
322/*
323 struct rusage r_usage;
324 getrusage(RUSAGE_THREAD,&r_usage);
325 printf(" memory usage = %ld\n",r_usage.ru_maxrss);
326 printf("RUSAGE :ru_utime => %lld [sec] : %lld [usec], :ru_stime => %lld
327 [sec] : %lld [usec] \n",
328 (int64_t)r_usage.ru_utime.tv_sec, (int64_t)r_usage.ru_utime.tv_usec,
329 (int64_t)r_usage.ru_stime.tv_sec,
330 (int64_t)r_usage.ru_stime.tv_usec);*/
331#endif
332 if (last != 0) {
333 Printf(" min jitter (ns): %lld\n", min_jitter);
334 Printf(" max jitter (ns): %lld\n", max_jitter);
335 Printf(" jitter moy (ns): %lld\n", mean_jitter / cpt);
336 Printf(" itertions: %lld\n", cpt);
337 }
338 }
339}
340
341void Thread_impl::Join(void) {
342 if (isRunning == true) {
343 int status;
344
345#ifdef __XENO__
346 status = rt_task_join(&task_rt);
347#else
348 status = pthread_join(task_nrt, NULL);
349#endif
350 if (status != 0)
351 self->Err("error %s\n", strerror(-status));
352 isRunning = false;
353 }
354}
355
356void Thread_impl::ComputeJitter(Time time) {
357 Time diff, delta;
358 diff = time - last;
359
360 if (diff >= period) {
361 delta = diff - period;
362 } else {
363 delta = period - diff;
364 }
365 // if(delta==0) rt_printf("%lld %lld\n",time,last);
366 last = time;
367 if (diff == time)
368 return;
369
370 if (delta > max_jitter)
371 max_jitter = delta;
372 if (delta < min_jitter)
373 min_jitter = delta;
374 mean_jitter += delta;
375 cpt++;
376
377 // Printf("Thread::%s jitter moy (ns):
378 // %lld\n",self->ObjectName().c_str(),mean_jitter/cpt);
379}
380
381void Thread_impl::SafeStop(void) {
382 tobestopped = true;
383 if (IsSuspended())
384 Resume();
385}
386
387bool Thread_impl::ToBeStopped(void) { return tobestopped; }
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