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Echtzeitdatenverarbeitung/include/rtai_schedcore.h

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/*
* Copyright (C) 1999-2013 Paolo Mantegazza <mantegazza@aero.polimi.it>
* Copyright (C) 2019 Alec Ari <neotheuser@ymail.com>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _RTAI_SCHEDCORE_H
#define _RTAI_SCHEDCORE_H
#ifdef __KERNEL__
#include <linux/module.h>
#include <linux/init.h>
#include <linux/kernel.h>
#include <linux/version.h>
#include <linux/errno.h>
#include <linux/slab.h>
#include <linux/timex.h>
#include <linux/sched.h>
#include <asm/param.h>
#include <asm/io.h>
#include <linux/oom.h>
#include <rtai_lxrt.h>
#include <rtai_sched.h>
#include <rtai_malloc.h>
#include <rtai_trace.h>
#include <rtai_sem.h>
#include <rtai_rwl.h>
#include <rtai_spl.h>
#include <rtai_scb.h>
#include <rtai_mbx.h>
#include <rtai_msg.h>
#include <rtai_fifos.h>
#include <rtai_shm.h>
#ifdef OOM_DISABLE
#define RTAI_OOM_DISABLE() \
do { current->signal->oom_score_adj = OOM_DISABLE; } while (0)
#else
#define RTAI_OOM_DISABLE()
#endif
#define NON_RTAI_TASK_SUSPEND(task) \
do { (task->lnxtsk)->state = TASK_SOFTREALTIME; } while (0)
#define NON_RTAI_TASK_RESUME(ready_task) \
do { pend_wake_up_srq(ready_task->lnxtsk, rtai_cpuid()); } while (0)
#define REQUEST_RESUME_SRQs_STUFF() \
do { \
if (!(wake_up_srq[0].srq = hal_alloc_irq())) { \
printk("*** ABORT, NO VIRQ AVAILABLE FOR THE WAKING UP SRQ. ***\n"); \
return -1; \
} \
ipipe_request_irq(hal_root_domain, wake_up_srq[0].srq, (void *)wake_up_srq_handler, NULL, NULL); \
} while (0)
#define RELEASE_RESUME_SRQs_STUFF() \
do { \
ipipe_free_irq(hal_root_domain, wake_up_srq[0].srq); \
hal_free_irq(wake_up_srq[0].srq); \
} while (0)
extern RT_TASK rt_smp_linux_task[];
extern RT_TASK *rt_smp_current[];
extern RTIME rt_smp_time_h[];
extern volatile int rt_sched_timed;
RT_TASK *rt_get_base_linux_task(RT_TASK **base_linux_task);
RT_TASK *rt_alloc_dynamic_task(void);
void rt_enq_ready_edf_task(RT_TASK *ready_task);
void rt_enq_ready_task(RT_TASK *ready_task);
int rt_renq_ready_task(RT_TASK *ready_task,
int priority);
void rt_rem_ready_task(RT_TASK *task);
void rt_rem_ready_current(RT_TASK *rt_current);
void rt_enq_timed_task(RT_TASK *timed_task);
void rt_rem_timed_task(RT_TASK *task);
void rt_dequeue_blocked(RT_TASK *task);
#ifdef CONFIG_RTAI_MALLOC
#ifdef CONFIG_RTAI_MALLOC_BUILTIN
#define sched_mem_init() \
{ if(__rtai_heap_init() != 0) { \
return(-ENOMEM); \
} }
#define sched_mem_end() __rtai_heap_exit()
#else /* CONFIG_RTAI_MALLOC_BUILTIN */
#define sched_mem_init()
#define sched_mem_end()
#endif /* !CONFIG_RTAI_MALLOC_BUILTIN */
#define call_exit_handlers(task) __call_exit_handlers(task)
#define set_exit_handler(task, fun, arg1, arg2) __set_exit_handler(task, fun, arg1, arg2)
#else /* !CONFIG_RTAI_MALLOC */
#define sched_mem_init()
#define sched_mem_end()
#define call_exit_handlers(task)
#define set_exit_handler(task, fun, arg1, arg2)
#endif /* CONFIG_RTAI_MALLOC */
#define SEMHLF 0x0000FFFF
#define RPCHLF 0xFFFF0000
#define RPCINC 0x00010000
#define DECLARE_RT_CURRENT int cpuid; RT_TASK *rt_current
#define ASSIGN_RT_CURRENT rt_current = rt_smp_current[cpuid = rtai_cpuid()]
#define RT_CURRENT rt_smp_current[rtai_cpuid()]
#define MAX_LINUX_RTPRIO 99
#define MIN_LINUX_RTPRIO 1
#ifdef CONFIG_RTAI_SCHED_ISR_LOCK
void rtai_handle_isched_lock(int nesting);
#endif /* CONFIG_RTAI_SCHED_ISR_LOCK */
#ifdef CONFIG_SMP
#define rt_time_h (rt_smp_time_h[cpuid])
#define rt_linux_task (rt_smp_linux_task[cpuid])
#else
#define rt_time_h (rt_smp_time_h[0])
#define rt_linux_task (rt_smp_linux_task[0])
#endif
/*
* WATCH OUT for the max expected number of arguments of rtai funs and
* their scattered around different calling ways.
*/
#define RTAI_MAX_FUN_ARGS 9
struct fun_args { unsigned long a[RTAI_MAX_FUN_ARGS]; RTAI_SYSCALL_MODE long long (*fun)(unsigned long, ...); };
//used in sys.c
#define RTAI_FUN_ARGS arg[0],arg[1],arg[2],arg[3],arg[4],arg[5],arg[6],arg[7],arg[RTAI_MAX_FUN_ARGS - 1]
//used in sched.c (generalised calls from soft threads)
#define RTAI_FUNARGS funarg->a[0],funarg->a[1],funarg->a[2],funarg->a[3],funarg->a[4],funarg->a[5],funarg->a[6],funarg->a[7],funarg->a[RTAI_MAX_FUN_ARGS - 1]
#ifdef CONFIG_SMP
static inline void send_sched_ipi(unsigned long dest)
{
_send_sched_ipi(dest);
}
#define RT_SCHEDULE_MAP(schedmap) \
do { if (schedmap) send_sched_ipi(schedmap); } while (0)
#define RT_SCHEDULE_MAP_BOTH(schedmap) \
do { if (schedmap) send_sched_ipi(schedmap); rt_schedule(); } while (0)
#define RT_SCHEDULE(task, cpuid) \
do { \
if ((task)->runnable_on_cpus != (cpuid)) { \
send_sched_ipi(1 << (task)->runnable_on_cpus); \
} else { \
rt_schedule(); \
} \
} while (0)
#define RT_SCHEDULE_BOTH(task, cpuid) \
{ \
if ((task)->runnable_on_cpus != (cpuid)) { \
send_sched_ipi(1 << (task)->runnable_on_cpus); \
} \
rt_schedule(); \
}
#else /* !CONFIG_SMP */
#define send_sched_ipi(dest)
#define RT_SCHEDULE_MAP_BOTH(schedmap) rt_schedule()
#define RT_SCHEDULE_MAP(schedmap) rt_schedule()
#define RT_SCHEDULE(task, cpuid) rt_schedule()
#define RT_SCHEDULE_BOTH(task, cpuid) rt_schedule()
#endif /* CONFIG_SMP */
#define BASE_SOFT_PRIORITY 1000000000
#ifndef TASK_NOWAKEUP
#define TASK_NOWAKEUP TASK_UNINTERRUPTIBLE
#endif
#define TASK_HARDREALTIME (TASK_INTERRUPTIBLE) // | TASK_NOWAKEUP)
#define TASK_RTAISRVSLEEP (TASK_INTERRUPTIBLE) // | TASK_NOWAKEUP)
#define TASK_SOFTREALTIME TASK_INTERRUPTIBLE
static inline void enq_ready_edf_task(RT_TASK *ready_task)
{
RT_TASK *task;
#ifdef CONFIG_SMP
task = rt_smp_linux_task[ready_task->runnable_on_cpus].rnext;
#else
task = rt_smp_linux_task[0].rnext;
#endif
while (task->policy < 0 && ready_task->period >= task->period) {
task = task->rnext;
}
task->rprev = (ready_task->rprev = task->rprev)->rnext = ready_task;
ready_task->rnext = task;
}
struct epoch_struct { spinlock_t lock; volatile int touse; volatile RTIME time[2][2]; };
#ifdef CONFIG_RTAI_CLOCK_REALTIME
#define REALTIME2COUNT(rtime) \
if (rtime > boot_epoch.time[boot_epoch.touse][0]) { \
rtime -= boot_epoch.time[boot_epoch.touse][0]; \
}
#else
#define REALTIME2COUNT(rtime)
#endif
#define MAX_WAKEUP_SRQ (1 << 6)
struct klist_t { int srq; volatile unsigned long in, out; void *task[MAX_WAKEUP_SRQ]; };
extern struct klist_t wake_up_srq[];
#define pend_wake_up_srq(lnxtsk, cpuid) \
do { \
wake_up_srq[cpuid].task[wake_up_srq[cpuid].in++ & (MAX_WAKEUP_SRQ - 1)] = lnxtsk; \
hal_pend_uncond(wake_up_srq[0].srq, cpuid); \
} while (0)
static inline void enq_ready_task(RT_TASK *ready_task)
{
RT_TASK *task;
if (ready_task->is_hard) {
#ifdef CONFIG_SMP
task = rt_smp_linux_task[ready_task->runnable_on_cpus].rnext;
#else
task = rt_smp_linux_task[0].rnext;
#endif
while (ready_task->priority >= task->priority) {
if ((task = task->rnext)->priority < 0) break;
}
task->rprev = (ready_task->rprev = task->rprev)->rnext = ready_task;
ready_task->rnext = task;
} else {
ready_task->state |= RT_SCHED_SFTRDY;
NON_RTAI_TASK_RESUME(ready_task);
}
}
static inline int renq_ready_task(RT_TASK *ready_task, int priority)
{
int retval;
if ((retval = ready_task->priority != priority)) {
ready_task->priority = priority;
if (ready_task->state == RT_SCHED_READY) {
(ready_task->rprev)->rnext = ready_task->rnext;
(ready_task->rnext)->rprev = ready_task->rprev;
enq_ready_task(ready_task);
}
}
return retval;
}
static inline void rem_ready_task(RT_TASK *task)
{
if (task->state == RT_SCHED_READY) {
if (!task->is_hard) {
NON_RTAI_TASK_SUSPEND(task);
}
// task->unblocked = 0;
(task->rprev)->rnext = task->rnext;
(task->rnext)->rprev = task->rprev;
}
}
static inline void rem_ready_current(RT_TASK *rt_current)
{
if (!rt_current->is_hard) {
NON_RTAI_TASK_SUSPEND(rt_current);
}
// rt_current->unblocked = 0;
(rt_current->rprev)->rnext = rt_current->rnext;
(rt_current->rnext)->rprev = rt_current->rprev;
}
#ifdef CONFIG_RTAI_LONG_TIMED_LIST
/* BINARY TREE */
static inline void enq_timed_task(RT_TASK *timed_task)
{
RT_TASK *taskh, *tsknxt, *task;
rb_node_t **rbtn, *rbtpn = NULL;
#ifdef CONFIG_SMP
task = taskh = &rt_smp_linux_task[timed_task->runnable_on_cpus];
#else
task = taskh = &rt_smp_linux_task[0];
#endif
rbtn = &taskh->rbr.rb_node;
while (*rbtn) {
rbtpn = *rbtn;
tsknxt = rb_entry(rbtpn, RT_TASK, rbn);
if (timed_task->resume_time > tsknxt->resume_time) {
rbtn = &(rbtpn)->rb_right;
} else {
rbtn = &(rbtpn)->rb_left;
task = tsknxt;
}
}
rb_link_node(&timed_task->rbn, rbtpn, rbtn);
rb_insert_color(&timed_task->rbn, &taskh->rbr);
task->tprev = (timed_task->tprev = task->tprev)->tnext = timed_task;
timed_task->tnext = task;
}
#define rb_erase_task(task, cpuid) \
rb_erase(&(task)->rbn, &rt_smp_linux_task[cpuid].rbr);
#else /* !CONFIG_RTAI_LONG_TIMED_LIST */
/* LINEAR */
static inline void enq_timed_task(RT_TASK *timed_task)
{
RT_TASK *task;
#ifdef CONFIG_SMP
task = rt_smp_linux_task[timed_task->runnable_on_cpus].tnext;
#else
task = rt_smp_linux_task[0].tnext;
#endif
while (timed_task->resume_time > task->resume_time) {
task = task->tnext;
}
task->tprev = (timed_task->tprev = task->tprev)->tnext = timed_task;
timed_task->tnext = task;
}
#define rb_erase_task(task, cpuid)
#endif /* !CONFIG_RTAI_LONG_TIMED_LIST */
static inline void rem_timed_task(RT_TASK *task)
{
if ((task->state & RT_SCHED_DELAYED)) {
(task->tprev)->tnext = task->tnext;
(task->tnext)->tprev = task->tprev;
#ifdef CONFIG_SMP
rb_erase_task(task, task->runnable_on_cpus);
#else
rb_erase_task(task, 0);
#endif
}
}
static inline void wake_up_timed_tasks(int cpuid)
{
RT_TASK *taskh, *task;
#ifdef CONFIG_SMP
task = (taskh = &rt_smp_linux_task[cpuid])->tnext;
#else
task = (taskh = &rt_smp_linux_task[0])->tnext;
#endif
if (task->resume_time - task->schedlat <= rt_time_h) {
do {
if ((task->state & RT_SCHED_SUSPENDED) && task->suspdepth > 0) {
task->suspdepth = 0;
}
if ((task->state &= ~(RT_SCHED_DELAYED | RT_SCHED_SUSPENDED | RT_SCHED_SEMAPHORE | RT_SCHED_RECEIVE | RT_SCHED_SEND | RT_SCHED_RPC | RT_SCHED_RETURN | RT_SCHED_MBXSUSP | RT_SCHED_POLL)) == RT_SCHED_READY) {
if (task->policy < 0) {
enq_ready_edf_task(task);
} else {
enq_ready_task(task);
}
#if ((CONFIG_RTAI_USER_BUSY_ALIGN_RET_DELAY > 0 || CONFIG_RTAI_KERN_BUSY_ALIGN_RET_DELAY > 0))
task->busy_time_align = 1;
#endif
}
rb_erase_task(task, cpuid);
task = task->tnext;
} while (task->resume_time <= rt_time_h);
#ifdef CONFIG_SMP
rt_smp_linux_task[cpuid].tnext = task;
task->tprev = &rt_smp_linux_task[cpuid];
#else
rt_smp_linux_task[0].tnext = task;
task->tprev = &rt_smp_linux_task[0];
#endif
}
}
#define get_time() rt_get_time()
static inline void enqueue_blocked(RT_TASK *task, QUEUE *queue, int qtype)
{
QUEUE *q;
task->blocked_on = (q = queue);
if (!qtype) {
while ((q = q->next) != queue && (q->task)->priority <= task->priority);
}
q->prev = (task->queue.prev = q->prev)->next = &(task->queue);
task->queue.next = q;
}
static inline void dequeue_blocked(RT_TASK *task)
{
task->prio_passed_to = NULL;
(task->queue.prev)->next = task->queue.next;
(task->queue.next)->prev = task->queue.prev;
task->blocked_on = NULL;
}
static inline unsigned long pass_prio(RT_TASK *to, RT_TASK *from)
{
QUEUE *q, *blocked_on;
#ifdef CONFIG_SMP
RT_TASK *rhead;
unsigned long schedmap;
schedmap = 0;
#endif
// from->prio_passed_to = to;
while (to && to->priority > from->priority) {
to->priority = from->priority;
if (to->state == RT_SCHED_READY) {
if ((to->rprev)->priority > to->priority || (to->rnext)->priority < to->priority) {
#ifdef CONFIG_SMP
rhead = rt_smp_linux_task[to->runnable_on_cpus].rnext;
#endif
(to->rprev)->rnext = to->rnext;
(to->rnext)->rprev = to->rprev;
enq_ready_task(to);
#ifdef CONFIG_SMP
if (rhead != rt_smp_linux_task[to->runnable_on_cpus].rnext) {
__set_bit(to->runnable_on_cpus & 0x1F, &schedmap);
}
#endif
}
break;
// } else if ((void *)(q = to->blocked_on) > RTE_HIGERR && !((to->state & RT_SCHED_SEMAPHORE) && ((SEM *)q)->qtype)) {
} else if ((unsigned long)(blocked_on = to->blocked_on) > RTE_HIGERR && (((to->state & RT_SCHED_SEMAPHORE) && ((SEM *)blocked_on)->type > 0) || (to->state & (RT_SCHED_SEND | RT_SCHED_RPC | RT_SCHED_RETURN)))) {
if (to->queue.prev != blocked_on) {
q = blocked_on;
(to->queue.prev)->next = to->queue.next;
(to->queue.next)->prev = to->queue.prev;
while ((q = q->next) != blocked_on && (q->task)->priority <= to->priority);
q->prev = (to->queue.prev = q->prev)->next = &(to->queue);
to->queue.next = q;
if (to->queue.prev != blocked_on) {
break;
}
}
to = (to->state & RT_SCHED_SEMAPHORE) ? ((SEM *)blocked_on)->owndby : blocked_on->task;
}
// to = to->prio_passed_to;
}
#ifdef CONFIG_SMP
return schedmap;
#else
return 0;
#endif
}
static inline RT_TASK *_rt_whoami(void)
{
#ifdef CONFIG_SMP
RT_TASK *rt_current;
unsigned long flags;
flags = rt_global_save_flags_and_cli();
rt_current = RT_CURRENT;
rt_global_restore_flags(flags);
return rt_current;
#else
return rt_smp_current[0];
#endif
}
static inline void __call_exit_handlers(RT_TASK *task)
{
XHDL *pt, *tmp;
pt = task->ExitHook; // Initialise ExitHook in rt_task_init()
while ( pt ) {
(*pt->fun) (pt->arg1, pt->arg2);
tmp = pt;
pt = pt->nxt;
rt_free(tmp);
}
task->ExitHook = 0;
}
static inline XHDL *__set_exit_handler(RT_TASK *task, void (*fun) (void *, int), void *arg1, int arg2)
{
XHDL *p;
// exit handler functions are automatically executed at terminattion time by rt_task_delete()
// in the reverse order they were created (like C++ destructors behave).
if (task->magic != RT_TASK_MAGIC) return 0;
if (!(p = (XHDL *) rt_malloc (sizeof(XHDL)))) return 0;
p->fun = fun;
p->arg1 = arg1;
p->arg2 = arg2;
p->nxt = task->ExitHook;
return (task->ExitHook = p);
}
static inline int rtai_init_features (void)
{
#ifdef CONFIG_RTAI_SEM_BUILTIN
__rtai_sem_init();
#endif /* CONFIG_RTAI_SEM_BUILTIN */
#ifdef CONFIG_RTAI_MSG_BUILTIN
__rtai_msg_init();
#endif /* CONFIG_RTAI_MSG_BUILTIN */
#ifdef CONFIG_RTAI_MBX_BUILTIN
__rtai_mbx_init();
#endif /* CONFIG_RTAI_MBX_BUILTIN */
#ifdef CONFIG_RTAI_FIFOS_BUILTIN
__rtai_fifos_init();
#endif /* CONFIG_RTAI_FIFOS_BUILTIN */
#ifdef CONFIG_RTAI_SHM_BUILTIN
__rtai_shm_init();
#endif /* CONFIG_RTAI_SHM_BUILTIN */
#ifdef CONFIG_RTAI_MATH_BUILTIN
__rtai_math_init();
#endif /* CONFIG_RTAI_MATH_BUILTIN */
return 0;
}
static inline void rtai_cleanup_features (void) {
#ifdef CONFIG_RTAI_MATH_BUILTIN
__rtai_math_exit();
#endif /* CONFIG_RTAI_MATH_BUILTIN */
#ifdef CONFIG_RTAI_SHM_BUILTIN
__rtai_shm_exit();
#endif /* CONFIG_RTAI_SHM_BUILTIN */
#ifdef CONFIG_RTAI_FIFOS_BUILTIN
__rtai_fifos_exit();
#endif /* CONFIG_RTAI_FIFOS_BUILTIN */
#ifdef CONFIG_RTAI_MBX_BUILTIN
__rtai_mbx_exit();
#endif /* CONFIG_RTAI_MBX_BUILTIN */
#ifdef CONFIG_RTAI_MSG_BUILTIN
__rtai_msg_exit();
#endif /* CONFIG_RTAI_MSG_BUILTIN */
#ifdef CONFIG_RTAI_SEM_BUILTIN
__rtai_sem_exit();
#endif /* CONFIG_RTAI_SEM_BUILTIN */
}
int rt_check_current_stack(void);
int rt_kthread_init_old(RT_TASK *task,
void (*rt_thread)(long),
long data,
int stack_size,
int priority,
int uses_fpu,
void(*signal)(void));
int rt_kthread_init_cpuid(RT_TASK *task,
void (*rt_thread)(long),
long data,
int stack_size,
int priority,
int uses_fpu,
void(*signal)(void),
unsigned int cpuid);
#else /* !__KERNEL__ */
#endif /* __KERNEL__ */
#endif /* !_RTAI_SCHEDCORE_H */
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