* [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task
@ 2021-03-12 2:42 hongzha1
2021-03-12 2:42 ` [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer hongzha1
2021-03-14 16:22 ` [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task Philippe Gerum
0 siblings, 2 replies; 6+ messages in thread
From: hongzha1 @ 2021-03-12 2:42 UTC (permalink / raw)
To: xenomai
Initialise and start a real-time task on specified cpu.
Introduce rtdm_task_affinity as base called by other init
task services to avoid code duplication.
Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
index 733c49df8..5406e54a5 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg);
int rtdm_task_init(rtdm_task_t *task, const char *name,
rtdm_task_proc_t task_proc, void *arg,
int priority, nanosecs_rel_t period);
+
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period);
+
int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
void rtdm_task_busy_sleep(nanosecs_rel_t delay);
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index b914fa312..22ae79256 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
*/
/**
- * @brief Initialise and start a real-time task
+ * @brief Initialise and start a real-time task with cpu affinity
*
* After initialising a task, the task handle remains valid and can be
* passed to RTDM services until either rtdm_task_destroy() or
* rtdm_task_join() was invoked.
*
* @param[in,out] task Task handle
+ * @param[in] cpu affinity that task want to run with
* @param[in] name Optional task name
* @param[in] task_proc Procedure to be executed by the task
* @param[in] arg Custom argument passed to @c task_proc() on entry
@@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
*
* @coretags{secondary-only, might-switch}
*/
-int rtdm_task_init(rtdm_task_t *task, const char *name,
- rtdm_task_proc_t task_proc, void *arg,
- int priority, nanosecs_rel_t period)
+static inline int rtdm_task_affinity(rtdm_task_t *task,
+ const struct cpumask *affinity, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
{
union xnsched_policy_param param;
struct xnthread_start_attr sattr;
@@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
iattr.name = name;
iattr.flags = 0;
iattr.personality = &xenomai_personality;
- iattr.affinity = CPU_MASK_ALL;
+ iattr.affinity = affinity ? (*affinity) : CPU_MASK_ALL;
param.rt.prio = priority;
err = xnthread_init(task, &iattr, &xnsched_class_rt, ¶m);
@@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
return err;
}
+/**
+ * @brief Initialise and start a real-time task
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init(rtdm_task_t *task, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
+{
+ return rtdm_task_affinity(task, NULL,
+ name, task_proc, arg, priority, period);
+}
EXPORT_SYMBOL_GPL(rtdm_task_init);
+/**
+ * @brief Initialise and start a real-time task on specified cpu
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] cpu that task want to run on
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
+ const char *name, rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
+{
+ if (!cpu_online(cpu))
+ return -EINVAL;
+
+ return rtdm_task_affinity(task, cpumask_of(cpu),
+ name, task_proc, arg, priority, period);
+
+}
+EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
+
#ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
/**
* @brief Destroy a real-time task
--
2.17.1
^ permalink raw reply related [flat|nested] 6+ messages in thread* [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer
2021-03-12 2:42 [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task hongzha1
@ 2021-03-12 2:42 ` hongzha1
2021-03-14 16:22 ` Philippe Gerum
2021-03-14 16:22 ` [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task Philippe Gerum
1 sibling, 1 reply; 6+ messages in thread
From: hongzha1 @ 2021-03-12 2:42 UTC (permalink / raw)
To: xenomai
Initialise timer on specified cpu.
Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
index 5406e54a5..d58df33ce 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -966,6 +966,9 @@ enum rtdm_timer_mode {
int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
const char *name);
+int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
+ const char *name, int cpu);
+
void rtdm_timer_destroy(rtdm_timer_t *timer);
int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index 22ae79256..604947662 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
const char *name)
{
+ /* cpu0 is used when no affinity was given */
+ return rtdm_timer_init_on_cpu(timer, handler, name, 0);
+}
+EXPORT_SYMBOL_GPL(rtdm_timer_init);
+
+/**
+ * @brief Initialise a timer on specified cpu
+ *
+ * @param[in,out] timer Timer handle
+ * @param[in] handler Handler to be called on timer expiry
+ * @param[in] name Optional timer name
+ * @param[in] cpu that run on
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{task-unrestricted}
+ */
+int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
+ rtdm_timer_handler_t handler, const char *name, int cpu)
+{
+ struct xnsched *sched;
+
if (!realtime_core_enabled())
return -ENOSYS;
- xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
+ if (!cpu_online(cpu) || !xnsched_supported_cpu(cpu))
+ return -EINVAL;
+
+ sched = xnsched_struct(cpu);
+ if (sched == NULL)
+ return -EINVAL;
+
+ xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
xntimer_set_name((timer), (name));
+
return 0;
}
-
-EXPORT_SYMBOL_GPL(rtdm_timer_init);
+EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
/**
* @brief Destroy a timer
--
2.17.1
^ permalink raw reply related [flat|nested] 6+ messages in thread* Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer
2021-03-12 2:42 ` [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer hongzha1
@ 2021-03-14 16:22 ` Philippe Gerum
0 siblings, 0 replies; 6+ messages in thread
From: Philippe Gerum @ 2021-03-14 16:22 UTC (permalink / raw)
To: hongzha1; +Cc: xenomai
hongzha1 via Xenomai <xenomai@xenomai.org> writes:
> Initialise timer on specified cpu.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 5406e54a5..d58df33ce 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -966,6 +966,9 @@ enum rtdm_timer_mode {
> int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
> const char *name);
>
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
> + const char *name, int cpu);
> +
> void rtdm_timer_destroy(rtdm_timer_t *timer);
>
> int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index 22ae79256..604947662 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
> int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
> const char *name)
> {
> + /* cpu0 is used when no affinity was given */
> + return rtdm_timer_init_on_cpu(timer, handler, name, 0);
> +}
> +EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +
> +/**
> + * @brief Initialise a timer on specified cpu
> + *
> + * @param[in,out] timer Timer handle
> + * @param[in] handler Handler to be called on timer expiry
> + * @param[in] name Optional timer name
> + * @param[in] cpu that run on
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{task-unrestricted}
> + */
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
> + rtdm_timer_handler_t handler, const char *name, int cpu)
> +{
> + struct xnsched *sched;
> +
> if (!realtime_core_enabled())
> return -ENOSYS;
>
> - xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
> + if (!cpu_online(cpu) || !xnsched_supported_cpu(cpu))
> + return -EINVAL;
> +
> + sched = xnsched_struct(cpu);
> + if (sched == NULL)
> + return -EINVAL;
> +
> + xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
> xntimer_set_name((timer), (name));
> +
> return 0;
> }
> -
> -EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
>
> /**
> * @brief Destroy a timer
Merged, thanks.
--
Philippe.
^ permalink raw reply [flat|nested] 6+ messages in thread
* Re: [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task
2021-03-12 2:42 [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task hongzha1
2021-03-12 2:42 ` [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer hongzha1
@ 2021-03-14 16:22 ` Philippe Gerum
1 sibling, 0 replies; 6+ messages in thread
From: Philippe Gerum @ 2021-03-14 16:22 UTC (permalink / raw)
To: hongzha1; +Cc: xenomai
hongzha1 via Xenomai <xenomai@xenomai.org> writes:
> Initialise and start a real-time task on specified cpu.
>
> Introduce rtdm_task_affinity as base called by other init
> task services to avoid code duplication.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 733c49df8..5406e54a5 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg);
> int rtdm_task_init(rtdm_task_t *task, const char *name,
> rtdm_task_proc_t task_proc, void *arg,
> int priority, nanosecs_rel_t period);
> +
> +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
> + rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period);
> +
> int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
> void rtdm_task_busy_sleep(nanosecs_rel_t delay);
>
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index b914fa312..22ae79256 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
> */
>
> /**
> - * @brief Initialise and start a real-time task
> + * @brief Initialise and start a real-time task with cpu affinity
> *
> * After initialising a task, the task handle remains valid and can be
> * passed to RTDM services until either rtdm_task_destroy() or
> * rtdm_task_join() was invoked.
> *
> * @param[in,out] task Task handle
> + * @param[in] cpu affinity that task want to run with
> * @param[in] name Optional task name
> * @param[in] task_proc Procedure to be executed by the task
> * @param[in] arg Custom argument passed to @c task_proc() on entry
> @@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
> *
> * @coretags{secondary-only, might-switch}
> */
> -int rtdm_task_init(rtdm_task_t *task, const char *name,
> - rtdm_task_proc_t task_proc, void *arg,
> - int priority, nanosecs_rel_t period)
> +static inline int rtdm_task_affinity(rtdm_task_t *task,
> + const struct cpumask *affinity, const char *name,
> + rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period)
> {
> union xnsched_policy_param param;
> struct xnthread_start_attr sattr;
> @@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
> iattr.name = name;
> iattr.flags = 0;
> iattr.personality = &xenomai_personality;
> - iattr.affinity = CPU_MASK_ALL;
> + iattr.affinity = affinity ? (*affinity) : CPU_MASK_ALL;
> param.rt.prio = priority;
>
> err = xnthread_init(task, &iattr, &xnsched_class_rt, ¶m);
> @@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
> return err;
> }
>
> +/**
> + * @brief Initialise and start a real-time task
> + *
> + * After initialising a task, the task handle remains valid and can be
> + * passed to RTDM services until either rtdm_task_destroy() or
> + * rtdm_task_join() was invoked.
> + *
> + * @param[in,out] task Task handle
> + * @param[in] name Optional task name
> + * @param[in] task_proc Procedure to be executed by the task
> + * @param[in] arg Custom argument passed to @c task_proc() on entry
> + * @param[in] priority Priority of the task, see also
> + * @ref rtdmtaskprio "Task Priority Range"
> + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
> + * mode. Waiting for the first and subsequent periodic events is
> + * done using rtdm_task_wait_period().
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{secondary-only, might-switch}
> + */
> +int rtdm_task_init(rtdm_task_t *task, const char *name,
> + rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period)
> +{
> + return rtdm_task_affinity(task, NULL,
> + name, task_proc, arg, priority, period);
> +}
> EXPORT_SYMBOL_GPL(rtdm_task_init);
>
> +/**
> + * @brief Initialise and start a real-time task on specified cpu
> + *
> + * After initialising a task, the task handle remains valid and can be
> + * passed to RTDM services until either rtdm_task_destroy() or
> + * rtdm_task_join() was invoked.
> + *
> + * @param[in,out] task Task handle
> + * @param[in] cpu that task want to run on
> + * @param[in] name Optional task name
> + * @param[in] task_proc Procedure to be executed by the task
> + * @param[in] arg Custom argument passed to @c task_proc() on entry
> + * @param[in] priority Priority of the task, see also
> + * @ref rtdmtaskprio "Task Priority Range"
> + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
> + * mode. Waiting for the first and subsequent periodic events is
> + * done using rtdm_task_wait_period().
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{secondary-only, might-switch}
> + */
> +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
> + const char *name, rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period)
> +{
> + if (!cpu_online(cpu))
> + return -EINVAL;
> +
> + return rtdm_task_affinity(task, cpumask_of(cpu),
> + name, task_proc, arg, priority, period);
> +
> +}
> +EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
> +
> #ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
> /**
> * @brief Destroy a real-time task
Merged, thanks.
--
Philippe.
^ permalink raw reply [flat|nested] 6+ messages in thread
* [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task
@ 2021-03-11 6:48 hongzha1
2021-03-11 8:32 ` Philippe Gerum
0 siblings, 1 reply; 6+ messages in thread
From: hongzha1 @ 2021-03-11 6:48 UTC (permalink / raw)
To: xenomai
Initialise and start a real-time task on specified cpu.
Introduce rtdm_task_init_with_affinity as base called by other init
task services to avoid code duplication.
Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
index 733c49df8..5406e54a5 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg);
int rtdm_task_init(rtdm_task_t *task, const char *name,
rtdm_task_proc_t task_proc, void *arg,
int priority, nanosecs_rel_t period);
+
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period);
+
int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
void rtdm_task_busy_sleep(nanosecs_rel_t delay);
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index b914fa312..069a442e5 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
*/
/**
- * @brief Initialise and start a real-time task
+ * @brief Initialise and start a real-time task with cpu affinity
*
* After initialising a task, the task handle remains valid and can be
* passed to RTDM services until either rtdm_task_destroy() or
* rtdm_task_join() was invoked.
*
* @param[in,out] task Task handle
+ * @param[in] cpu affinity that task want to run with
* @param[in] name Optional task name
* @param[in] task_proc Procedure to be executed by the task
* @param[in] arg Custom argument passed to @c task_proc() on entry
@@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
*
* @coretags{secondary-only, might-switch}
*/
-int rtdm_task_init(rtdm_task_t *task, const char *name,
- rtdm_task_proc_t task_proc, void *arg,
- int priority, nanosecs_rel_t period)
+static inline int rtdm_task_init_with_affinity(rtdm_task_t *task,
+ cpumask_t affinity, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
{
union xnsched_policy_param param;
struct xnthread_start_attr sattr;
@@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
iattr.name = name;
iattr.flags = 0;
iattr.personality = &xenomai_personality;
- iattr.affinity = CPU_MASK_ALL;
+ iattr.affinity = affinity;
param.rt.prio = priority;
err = xnthread_init(task, &iattr, &xnsched_class_rt, ¶m);
@@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
return err;
}
+/**
+ * @brief Initialise and start a real-time task
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init(rtdm_task_t *task, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
+{
+ return rtdm_task_init_with_affinity(task, CPU_MASK_ALL,
+ name, task_proc, arg, priority, period);
+}
EXPORT_SYMBOL_GPL(rtdm_task_init);
+/**
+ * @brief Initialise and start a real-time task on specified cpu
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] cpu that task want to run on
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
+ const char *name, rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
+{
+ if (!cpu_online(cpu))
+ return -EINVAL;
+
+ return rtdm_task_init_with_affinity(task, *cpumask_of(cpu),
+ name, task_proc, arg, priority, period);
+
+}
+EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
+
#ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
/**
* @brief Destroy a real-time task
--
2.17.1
^ permalink raw reply related [flat|nested] 6+ messages in thread* Re: [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task
2021-03-11 6:48 hongzha1
@ 2021-03-11 8:32 ` Philippe Gerum
0 siblings, 0 replies; 6+ messages in thread
From: Philippe Gerum @ 2021-03-11 8:32 UTC (permalink / raw)
To: hongzha1; +Cc: xenomai
hongzha1 via Xenomai <xenomai@xenomai.org> writes:
> Initialise and start a real-time task on specified cpu.
>
> Introduce rtdm_task_init_with_affinity as base called by other init
> task services to avoid code duplication.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 733c49df8..5406e54a5 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg);
> int rtdm_task_init(rtdm_task_t *task, const char *name,
> rtdm_task_proc_t task_proc, void *arg,
> int priority, nanosecs_rel_t period);
> +
> +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
> + rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period);
> +
> int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
> void rtdm_task_busy_sleep(nanosecs_rel_t delay);
>
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index b914fa312..069a442e5 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
> */
>
> /**
> - * @brief Initialise and start a real-time task
> + * @brief Initialise and start a real-time task with cpu affinity
> *
> * After initialising a task, the task handle remains valid and can be
> * passed to RTDM services until either rtdm_task_destroy() or
> * rtdm_task_join() was invoked.
> *
> * @param[in,out] task Task handle
> + * @param[in] cpu affinity that task want to run with
> * @param[in] name Optional task name
> * @param[in] task_proc Procedure to be executed by the task
> * @param[in] arg Custom argument passed to @c task_proc() on entry
> @@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
> *
> * @coretags{secondary-only, might-switch}
> */
> -int rtdm_task_init(rtdm_task_t *task, const char *name,
> - rtdm_task_proc_t task_proc, void *arg,
> - int priority, nanosecs_rel_t period)
> +static inline int rtdm_task_init_with_affinity(rtdm_task_t *task,
> + cpumask_t affinity, const char *name,
> + rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period)
In general, I would refrain from passing CPU masks by value; these may
represent pretty large data on x86 platforms, although the optimizer
might find its way using a reference internally in this specific
case. Receiving struct cpumask * would be better nevertheless.
xnintr_affinity() is another candidate for such a change.
> {
> union xnsched_policy_param param;
> struct xnthread_start_attr sattr;
> @@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
> iattr.name = name;
> iattr.flags = 0;
> iattr.personality = &xenomai_personality;
> - iattr.affinity = CPU_MASK_ALL;
> + iattr.affinity = affinity;
> param.rt.prio = priority;
>
> err = xnthread_init(task, &iattr, &xnsched_class_rt, ¶m);
> @@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
> return err;
> }
>
> +/**
> + * @brief Initialise and start a real-time task
> + *
> + * After initialising a task, the task handle remains valid and can be
> + * passed to RTDM services until either rtdm_task_destroy() or
> + * rtdm_task_join() was invoked.
> + *
> + * @param[in,out] task Task handle
> + * @param[in] name Optional task name
> + * @param[in] task_proc Procedure to be executed by the task
> + * @param[in] arg Custom argument passed to @c task_proc() on entry
> + * @param[in] priority Priority of the task, see also
> + * @ref rtdmtaskprio "Task Priority Range"
> + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
> + * mode. Waiting for the first and subsequent periodic events is
> + * done using rtdm_task_wait_period().
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{secondary-only, might-switch}
> + */
> +int rtdm_task_init(rtdm_task_t *task, const char *name,
> + rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period)
> +{
> + return rtdm_task_init_with_affinity(task, CPU_MASK_ALL,
> + name, task_proc, arg, priority, period);
> +}
> EXPORT_SYMBOL_GPL(rtdm_task_init);
>
> +/**
> + * @brief Initialise and start a real-time task on specified cpu
> + *
> + * After initialising a task, the task handle remains valid and can be
> + * passed to RTDM services until either rtdm_task_destroy() or
> + * rtdm_task_join() was invoked.
> + *
> + * @param[in,out] task Task handle
> + * @param[in] cpu that task want to run on
> + * @param[in] name Optional task name
> + * @param[in] task_proc Procedure to be executed by the task
> + * @param[in] arg Custom argument passed to @c task_proc() on entry
> + * @param[in] priority Priority of the task, see also
> + * @ref rtdmtaskprio "Task Priority Range"
> + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
> + * mode. Waiting for the first and subsequent periodic events is
> + * done using rtdm_task_wait_period().
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{secondary-only, might-switch}
> + */
> +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
> + const char *name, rtdm_task_proc_t task_proc, void *arg,
> + int priority, nanosecs_rel_t period)
> +{
> + if (!cpu_online(cpu))
> + return -EINVAL;
> +
> + return rtdm_task_init_with_affinity(task, *cpumask_of(cpu),
> + name, task_proc, arg, priority, period);
> +
> +}
> +EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
> +
> #ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
> /**
> * @brief Destroy a real-time task
--
Philippe.
^ permalink raw reply [flat|nested] 6+ messages in thread
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2021-03-12 2:42 [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task hongzha1
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2021-03-14 16:22 ` Philippe Gerum
2021-03-14 16:22 ` [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task Philippe Gerum
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2021-03-11 6:48 hongzha1
2021-03-11 8:32 ` Philippe Gerum
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