From: Jan Kiszka <jan.kiszka@siemens.com>
To: "Richard Weinberger" <richard.weinberger@gmail.com>,
"Petr Červenka" <grugh@centrum.cz>
Cc: Xenomai <xenomai@xenomai.org>
Subject: Re: rt_task_unblock() POSIX alternative
Date: Tue, 14 Apr 2020 12:07:04 +0200 [thread overview]
Message-ID: <6b8c89d1-bae0-90f5-4935-925fb0af2137@siemens.com> (raw)
In-Reply-To: <CAFLxGvx4qs8ONbaiU37rFNqXy=n8Hat_p-V7fLAAxgskbuU_GA@mail.gmail.com>
On 14.04.20 11:46, Richard Weinberger wrote:
> On Tue, Apr 14, 2020 at 11:11 AM Petr Červenka <grugh@centrum.cz> wrote:
>>
>>> I fear there seems to be a confusion between POSIX tasks and POSIX skin.
>>> Is your goal programming Xenomai realtime threads using POSIX alike APIs?
>>> Or are you looking for a pedant of rt_task_unblock() to unblock a
>>> POSIX task, without Xenomai realtime threads?
>>>
>>> The solution I provided is for the latter case.
>>
>>
>>
>> My original goal was to port a very complex realtime application from Xenomai 2.6.5 Native skin to Xenomai 3.1 POSIX skin. So I made series of examples, where I tried to verify porting of several designs used in the orig. application. And rt_task_unblock() for reconfiguration of the waiting threads in the orig app was one of them.
>>
>> Now I'm very curious, why the (my explicit) signals in Xenomai POSIX skin are not working for me as I would expect.
>>
>>
>>
>> Here is my compile command:
>>
>> g++ -fasynchronous-unwind-tables -c -g -D_DEBUG -D_GNU_SOURCE -D_REENTRANT -D__COBALT_WRAP__ -D__COBALT__ -I/usr/xenomai/include/cobalt -I/usr/xenomai/include -MMD -MP -MF "build/Debug/GNU-Linux/main.o.d" -o build/Debug/GNU-Linux/main.o main.cpp
>>
>>
>>
>> Here is my link command:
>>
>> g++ -fasynchronous-unwind-tables -o dist/Debug/GNU-Linux/countertestapp_4 build/Debug/GNU-Linux/main.o -L/usr/xenomai/lib -Wl,-rpath,'/usr/xenomai/lib' -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lcobalt -lmodechk -lpthread -lrt
>>
>>
>>
>> I'm using Netbeans IDE for my attemps, but the I tried to integrate xeno-config --posix --cflags or --ldflags result into the project settings as much as possible.
>
> Okay. Now things get clearer.
> pthread_kill() will be wrapped to Xenomai, but you installed a signal
> handler for a Linux process.
>
> What you basically need is a function in the Xenomai POSIX skin which
> calls threadobj_unblock().
>
Below the working version for unblocking the RT task with non-RT signal.
Jan
---
#include <math.h>
#include <pthread.h>
#include <stdint.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/mman.h>
#include <sys/timerfd.h>
#include <unistd.h>
#define AUTO_KILL
#define SECOND 1000000000l // ns
#define PERIOD (5 * SECOND) // ns
#define SLEEP (1 * SECOND) // ns
using namespace std;
static pid_t mainTask_pid;
static pthread_t task;
static int timer_fd;
static volatile bool end = false;
void signalHandler(int signal, siginfo_t *info, void *ctx) {
end = true;
}
void timediff (struct timespec *result, const struct timespec *t1, const struct timespec *t2) {
result->tv_sec = t2->tv_sec - t1->tv_sec;
result->tv_nsec = t2->tv_nsec - t1->tv_nsec;
if (result->tv_nsec >= SECOND) {
result->tv_nsec -= SECOND;
result->tv_sec++;
}
if (result->tv_nsec < 0) {
result->tv_nsec += SECOND;
result->tv_sec--;
}
}
static void *taskHandler(void *cookie) {
struct sigaction sa = {0};
int err;
printf("Task started\n");
sa.sa_flags = 0;
sigemptyset(&sa.sa_mask);
sa.sa_sigaction = signalHandler;
sigaction(SIGUSR1, &sa, NULL);
// Get current time
struct timespec start;
clock_gettime(CLOCK_MONOTONIC, &start);
// Set task period
timer_fd = timerfd_create(CLOCK_MONOTONIC, 0);
struct itimerspec timer_conf;
timer_conf.it_value.tv_sec = start.tv_sec;
timer_conf.it_value.tv_nsec = start.tv_nsec;
timer_conf.it_interval.tv_sec = PERIOD / SECOND;
timer_conf.it_interval.tv_nsec = PERIOD % SECOND;
printf("Set period: %.3gs\n", timer_conf.it_interval.tv_sec + (double) timer_conf.it_interval.tv_nsec / SECOND);
err = timerfd_settime(timer_fd, TFD_TIMER_ABSTIME, &timer_conf, NULL);
if (err != 0) {
printf("timerfd_settime failed: %d (%s)\n", err, strerror(-err));
return NULL;
}
// Main cycle
while (!end) {
// Wait next period
uint64_t ticks;
::read(timer_fd, &ticks, sizeof (ticks));
// Get current time
struct timespec now, result;
clock_gettime(CLOCK_MONOTONIC, &now);
// Printf wait time
timediff(&result, &start, &now);
printf("Task livind: %.3gs\n", result.tv_sec + (double) result.tv_nsec / SECOND);
start = now;
}
::close(timer_fd);
printf("Task ended\n");
}
/*
*
*/
int main(int argc, char** argv) {
unsigned long overruns;
int err;
mlockall(MCL_CURRENT | MCL_FUTURE);
// Get current process ID
mainTask_pid = getpid();
// Make main task real-time (prio 1)
sched_param param;
memset(¶m, 0, sizeof(param));
param.sched_priority = 1;
err = sched_setscheduler(mainTask_pid, SCHED_FIFO, ¶m);
if (err != 0) {
printf("sched_setscheduler failed: %d (%s)\n", err, strerror(-err));
goto sched_setscheduler_err;
}
// Create new task (prio 2)
pthread_attr_t tattr;
pthread_attr_init(&tattr);
pthread_attr_setinheritsched(&tattr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
memset(¶m, 0, sizeof (param));
param.sched_priority = 2;
pthread_attr_setschedparam(&tattr, ¶m);
err = pthread_create(&task, &tattr, taskHandler, NULL);
if (err != 0) {
printf("pthread_create failed: %d (%s)\n", err, strerror(-err));
goto pthread_create_err;
}
#ifndef AUTO_KILL
printf("Press ^C to stop!\n");
do {
pause();
} while(!end);
#else
usleep(SLEEP / 1000);
err = __STD(pthread_kill)(task, SIGUSR1);
if (err != 0) {
printf("pthread_kill failed: %d (%s)\n", err, strerror(-err));
}
#endif
printf("Waiting for join\n");
//pthread_cancel(task);
pthread_join(task, NULL);
pthread_create_err:
sched_setaffinity_err:
sched_setscheduler_err:
return 0;
}
next prev parent reply other threads:[~2020-04-14 10:07 UTC|newest]
Thread overview: 26+ messages / expand[flat|nested] mbox.gz Atom feed top
2020-04-07 13:41 rt_task_unblock() POSIX alternative Petr Červenka
2020-04-07 14:59 ` Jan Kiszka
2020-04-07 15:18 ` Petr Červenka
2020-04-07 15:29 ` Jan Kiszka
2020-04-07 15:30 ` Richard Weinberger
2020-04-08 9:44 ` Petr Červenka
2020-04-08 10:06 ` Richard Weinberger
2020-04-08 21:36 ` Richard Weinberger
2020-04-09 15:00 ` Petr Červenka
2020-04-09 16:13 ` Richard Weinberger
2020-04-09 18:10 ` Petr Červenka
2020-04-09 18:48 ` Richard Weinberger
2020-04-14 8:16 ` Petr Červenka
2020-04-14 8:30 ` Richard Weinberger
2020-04-14 9:10 ` Petr Červenka
2020-04-14 9:46 ` Richard Weinberger
2020-04-14 10:07 ` Jan Kiszka [this message]
2020-04-14 10:23 ` Richard Weinberger
2020-04-14 10:28 ` Jan Kiszka
2020-04-14 10:41 ` Richard Weinberger
2020-04-14 10:43 ` Jan Kiszka
2020-04-14 10:56 ` Richard Weinberger
2020-04-14 11:01 ` Jan Kiszka
2020-04-14 11:05 ` Richard Weinberger
2020-04-14 11:30 ` Jan Kiszka
2020-04-14 10:39 ` Petr Červenka
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