Changeset 15 in flair-src for trunk/lib/FlairCore/src/Thread_impl.cpp


Ignore:
Timestamp:
04/08/16 15:40:57 (8 years ago)
Author:
Bayard Gildas
Message:

sources reformatted with flair-format-dir script

File:
1 edited

Legend:

Unmodified
Added
Removed

  • trunk/lib/FlairCore/src/Thread_impl.cpp

    r2 r15  
    3333using namespace flair::core;
    3434
    35 Thread_impl::Thread_impl(Thread* self,uint8_t priority)
    36 {
    37     isRunning=false;
    38     tobestopped=false;
    39     is_suspended=false;
    40     period_set=false;
    41 
    42     this->self=self;
    43     cond=new ConditionVariable(self,self->ObjectName());
    44 
    45     if(priority<MIN_THREAD_PRIORITY)
    46     {
    47         priority=MIN_THREAD_PRIORITY;
    48 //        printf("Thread::Thread, %s: priority set to %i\n",self->ObjectName().c_str(), priority);
     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;
    49290    }
    50     if(priority>MAX_THREAD_PRIORITY)
    51     {
    52         priority=MAX_THREAD_PRIORITY;
    53         self->Warn("priority set to %i\n",MAX_THREAD_PRIORITY);
    54     }
    55 
    56     this->priority=priority;
    57     period=100*1000*1000;//100ms par defaut
    58     min_jitter=1000*1000*1000;
    59     max_jitter=0;
    60     mean_jitter=0;
    61     last=0;
    62     cpt=0;
    63 }
    64 
    65 Thread_impl::~Thread_impl()
    66 {
    67     SafeStop();
    68     Join();
    69 }
    70 
    71 void Thread_impl::Start(void)
    72 {
    73     int status;
    74 
    75     isRunning=true;
    76 
    77 #ifdef __XENO__
    78     string th_name=getFrameworkManager()->ObjectName()+ "-" + self->ObjectName();
    79 
    80 #ifdef RT_STACK_SIZE
    81     status=rt_task_create(&task_rt, th_name.c_str(), RT_STACK_SIZE, (int)priority, T_JOINABLE);
    82 #else
    83     status=rt_task_create(&task_rt, th_name.c_str(), 0,(int)priority, T_JOINABLE);
    84 #endif //RT_STACK_SIZE
    85     if(status!=0)
    86     {
    87         self->Err("rt_task_create error (%s)\n",strerror(-status));
    88     }
    89     else
    90     {
    91         //_printf("rt_task_create ok %s\n",th_name);
    92     }
    93 
    94     status=rt_task_start(&task_rt, &main_rt, (void*)this);
    95     if(status!=0)
    96     {
    97         self->Err("rt_task_start error (%s)\n",strerror(-status));
    98     }
    99      else
    100      {
    101         //_printf("rt_task_start ok %s\n",th_name);
    102      }
    103 
    104     // Initialise the rt_print buffer for this task explicitly
    105     rt_print_init(512, th_name.c_str());
    106 
    107 #else //__XENO__
    108 
    109     // Initialize thread creation attributes
    110     pthread_attr_t attr;
    111     if(pthread_attr_init(&attr) != 0)
    112     {
    113         self->Err("Error pthread_attr_init\n");
    114     }
    115 
    116 #ifdef NRT_STACK_SIZE
    117     if(pthread_attr_setstacksize(&attr, NRT_STACK_SIZE) != 0)
    118     {
    119         self->Err("Error pthread_attr_setstacksize\n");
    120     }
    121 #endif //NRT_STACK_SIZE
    122 
    123     if(pthread_attr_setinheritsched(&attr,PTHREAD_EXPLICIT_SCHED)!=0)
    124     {
    125         self->Err("Error pthread_attr_setinheritsched\n");
    126     }
    127 
    128     if(pthread_attr_setschedpolicy(&attr, SCHED_FIFO)!=0)
    129     {
    130         self->Err("Error pthread_attr_setschedpolicy\n");
    131     }
    132 
    133     struct sched_param parm;
    134     parm.sched_priority = priority;
    135     if(pthread_attr_setschedparam(&attr,&parm)!=0)
    136     {
    137         self->Err("Error pthread_attr_setschedparam\n");
    138     }
    139 
    140     next_time=GetTime()+period;
    141 
    142     if(pthread_create(&task_nrt,  &attr, main_nrt, (void*)this) != 0)
    143     {
    144         self->Err("pthread_create error\n");
    145     }
    146 
    147     if(pthread_attr_destroy(&attr) != 0)
    148     {
    149         self->Err("Error pthread_attr_destroy\n");
    150     }
    151 
    152 #endif //__XENO__
    153 }
    154 
    155 #ifdef __XENO__
    156 void Thread_impl::main_rt(void * arg)
    157 {
    158     Thread_impl *caller = (Thread_impl*)arg;
    159 
    160     // Perform auto-init of rt_print buffers if the task doesn't do so
    161     rt_print_auto_init(1);
    162 
    163     caller->self->Run();
    164 
    165     caller->PrintStats();
    166 }
    167 #else
    168 void* Thread_impl::main_nrt(void * arg)
    169 {
    170     Thread_impl *caller = (Thread_impl*)arg;
    171 
    172     caller->self->Run();
    173 
    174     caller->PrintStats();
    175 
    176     pthread_exit(0);
    177 }
    178 #endif //__XENO__
    179 
    180 void Thread_impl::SetPeriodUS(uint32_t period) {
    181     if(period==0) {
    182         self->Err("Period must be>0\n");
    183         return;
    184     }
    185 
    186 #ifdef __XENO__
    187     int status=rt_task_set_periodic(&task_rt, TM_NOW, period*1000);
    188     if(status!=0) self->Err("Error rt_task_set_periodic %s\n",strerror(-status));
    189 #else
    190     next_time-=period;
    191     next_time+=period*1000;
    192 #endif
    193     this->period=period*1000;
    194     period_set=true;
    195 }
    196 
    197 uint32_t Thread_impl::GetPeriodUS() const {
    198     return this->period/1000;
    199 }
    200 
    201 void Thread_impl::SetPeriodMS(uint32_t period) {
    202     if(period==0) {
    203         self->Err("Period must be>0\n");
    204         return;
    205     }
    206 
    207 #ifdef __XENO__
    208     int status=rt_task_set_periodic(&task_rt, TM_NOW, period*1000*1000);
    209     if(status!=0) self->Err("Error rt_task_set_periodic %s\n",strerror(-status));
    210 #else
    211     next_time-=period;
    212     next_time+=period*1000*1000;
    213 #endif
    214     this->period=period*1000*1000;
    215     period_set=true;
    216 }
    217 
    218 uint32_t Thread_impl::GetPeriodMS() const {
    219     return this->period/1000/1000;
    220 }
    221 
    222 void Thread_impl::WaitPeriod(void)
    223 {
    224     if(period_set==false)
    225     {
    226         self->Err("Period must be set befaore calling this method\n");
    227         return;
    228     }
    229 #ifdef __XENO__
    230     unsigned long overruns_r;
    231     int status=rt_task_wait_period(&overruns_r);
    232     if(status!=0) self->Err("Error rt_task_wait_period %s\n",strerror(-status));
    233     if(status==-ETIMEDOUT) self->Err("overrun: %lld\n",overruns_r);
    234 #else
    235     self->SleepUntil(next_time);
    236     next_time+=period;
    237 #endif
    238     ComputeJitter(GetTime());
    239 }
    240 
    241 
    242 void Thread_impl::Suspend(void) {
    243     if(isRunning==false) {
    244         self->Err("thread is not started\n");
    245         return;
    246     }
    247 
    248     cond->GetMutex(),
    249     is_suspended=true;
    250     cond->CondWait();
    251     is_suspended=false;
     291
    252292    cond->ReleaseMutex();
    253 }
    254 
    255 bool Thread_impl::SuspendUntil(Time date) {
    256     if(isRunning==false) {
    257         self->Err("thread is not started\n");
    258         return false;
    259     }
    260 
    261     cond->GetMutex(),
    262     is_suspended=true;
    263     bool success=cond->CondWaitUntil(date);
    264     is_suspended=false;
    265     cond->ReleaseMutex();
    266     return success;
    267 }
    268 
    269 bool Thread_impl::IsSuspended(void)
    270 {
    271     bool result;
    272 
    273     cond->GetMutex();
    274     result=is_suspended;
    275     cond->ReleaseMutex();
    276 
    277     return result;
    278 }
    279 
    280 void Thread_impl::Resume(void)
    281 {
    282     if(isRunning==false)
    283     {
    284         self->Err("thread is not started\n");
    285         return;
    286     }
    287 
    288     cond->GetMutex();
    289     if(is_suspended==true)
    290     {
    291         cond->CondSignal();
    292     }
    293     else
    294     {
    295         self->Err("thread is not suspended\n");
    296     }
    297     cond->ReleaseMutex();
    298 }
    299 
    300 int Thread_impl::WaitUpdate(const IODevice* device)
    301 {
    302     int status=0;
    303 
    304     if(IsSuspended()==true)
    305     {
    306         self->Err("thread is already supended\n");
    307         status=-1;
    308     }
    309     else
    310     {
    311         cond->GetMutex();
    312 
    313         if(device->pimpl_->SetToWake(self)==0)
    314         {
    315             is_suspended=true;
    316             cond->CondWait();
    317             is_suspended=false;
    318         }
    319         else
    320         {
    321             self->Err("%s is already waiting an update\n",device->ObjectName().c_str());
    322             status=-1;
    323         }
    324 
    325         cond->ReleaseMutex();
    326     }
    327 
    328     return status;
    329 }
    330 
    331 void Thread_impl::PrintStats(void)
    332 {
    333 #ifdef __XENO__
    334     RT_TASK_INFO info;
    335 
    336     int status=rt_task_inquire(NULL, &info);
    337     if(status!=0)
    338     {
    339         self->Err("Error rt_task_inquire %s\n",strerror(-status));
    340     }
    341     else
    342 #endif
    343     {
     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  {
    344308#ifndef __XENO__
    345         //if(last!=0)
    346 #endif
    347         {
    348             Printf("Thread::%s :\n",self->ObjectName().c_str());
    349         }
    350 #ifdef __XENO__
    351         Printf("    number of context switches: %i\n",info.ctxswitches);
    352         Printf("    number of primary->secondary mode switch: %i\n",info.modeswitches);
    353         //printf("number of page faults: %i\n",info.pagefaults);
    354         Printf("    execution time (ms) in primary mode: %lld\n",info.exectime/1000000);
     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);
    355319#else
    356320/*
    … …  
    358322        getrusage(RUSAGE_THREAD,&r_usage);
    359323        printf("    memory usage = %ld\n",r_usage.ru_maxrss);
    360         printf("RUSAGE :ru_utime => %lld [sec] : %lld [usec], :ru_stime => %lld [sec] : %lld [usec] \n",
     324        printf("RUSAGE :ru_utime => %lld [sec] : %lld [usec], :ru_stime => %lld
     325   [sec] : %lld [usec] \n",
    361326           (int64_t)r_usage.ru_utime.tv_sec, (int64_t)r_usage.ru_utime.tv_usec,
    362            (int64_t)r_usage.ru_stime.tv_sec, (int64_t)r_usage.ru_stime.tv_usec);*/
    363 #endif
    364         if(last!=0)
    365         {
    366             Printf("    min jitter (ns): %lld\n",min_jitter);
    367             Printf("    max jitter (ns): %lld\n",max_jitter);
    368             Printf("    jitter moy (ns): %lld\n",mean_jitter/cpt);
    369             Printf("    itertions: %lld\n",cpt);
    370         }
     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);
    371335    }
    372 }
    373 
    374 void Thread_impl::Join(void)
    375 {
    376     if(isRunning==true)
    377     {
    378         int status;
    379 
    380 #ifdef __XENO__
    381         status=rt_task_join(&task_rt);
    382 #else
    383         status=pthread_join(task_nrt,NULL);
    384 #endif
    385         if(status!=0) self->Err("error %s\n",strerror(-status));
    386         isRunning=false;
    387     }
    388 }
    389 
    390 void Thread_impl::ComputeJitter(Time time)
    391 {
    392     Time diff,delta;
    393     diff=time-last;
    394 
    395     if(diff>=period)
    396     {
    397         delta=diff-period;
    398     }
    399     else
    400     {
    401         delta=period-diff;
    402     }
    403     //if(delta==0) rt_printf("%lld %lld\n",time,last);
    404     last=time;
    405     if(diff==time) return;
    406 
    407     if(delta>max_jitter) max_jitter=delta;
    408     if(delta<min_jitter) min_jitter=delta;
    409     mean_jitter+=delta;
    410     cpt++;
    411 
    412     //Printf("Thread::%s jitter moy (ns): %lld\n",self->ObjectName().c_str(),mean_jitter/cpt);
    413 
    414 }
    415 
    416 void Thread_impl::SafeStop(void)
    417 {
    418     tobestopped=true;
    419     if(IsSuspended()) Resume();
    420 }
    421 
    422 bool Thread_impl::ToBeStopped(void)
    423 {
    424     return tobestopped;
    425 }
     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; }
Note: See TracChangeset for help on using the changeset viewer.