* [Xenomai-help] Re: [Xenomai-core] VxWorks skin improvement
@ 2006-03-17 15:13 Alessandro Pittaluga
2006-03-17 15:40 ` Philippe Gerum
0 siblings, 1 reply; 5+ messages in thread
From: Alessandro Pittaluga @ 2006-03-17 15:13 UTC (permalink / raw)
To: rpm; +Cc: xenomai, xenomai
Philippe,
Here follow some tests carried on by my SW lab.
Hoping this may help.
Regards
Alessandro
ANSWER 1
As shown below calling taskName with a null argument will return the
same result returned by taskName called with the return value of
taskIdSelf().
OUTPUT:
Spawned task xeno_test taskId=0x01a59a48
This is task_entry_pnt() of task 0x01a59a48
taskName(0)=xeno_test taskName(taskIdSelf())=xeno_test
taskName(0x01a59a48)=xeno_test
ANSWER 2
MSG_PRI_NORMAL is defined 0 and MSG_PRI_URGENT is defined 1. It seems
that all non 0 priority
messages are managed as urgent. The first message extracted from the
queue by a receiver is
the last inserted into the queue with a non 0 priority.
The following 7 cases show the calling sequence of a sending task and
the received message
lengths of a receiving task.
CASE 1
[Sending task]: [msgQSend(qid,"a" , 1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
[Sending task]: [msgQSend(qid,"ab" , 2, NO_WAIT, MSG_PRI_URGENT)] returned OK
[Sending task]: [msgQSend(qid,"abc" , 3, NO_WAIT, 2)] returned OK
[Sending task]: [msgQSend(qid,"abcd" , 4, NO_WAIT, 3)] returned OK
[Sending task]: [msgQSend(qid,"abcde" , 5, NO_WAIT, 4)] returned OK
[Sending task]: [msgQSend(qid,"abcdef" , 6, NO_WAIT, 5)] returned OK
[Sending task]: [msgQSend(qid,"abcdefg" , 7, NO_WAIT, 6)] returned OK
[Sending task]: [msgQSend(qid,"abcdefgh" , 8, NO_WAIT, 7)] returned OK
[Sending task]: [msgQSend(qid,"abcdefghi" , 9, NO_WAIT, 8)] returned OK
[Sending task]: [msgQSend(qid,"abcdefghij",10, NO_WAIT, 9)] returned OK
[Receiving task]: Received 10 bytes from queue
[Receiving task]: Received 9 bytes from queue
[Receiving task]: Received 8 bytes from queue
[Receiving task]: Received 7 bytes from queue
[Receiving task]: Received 6 bytes from queue
[Receiving task]: Received 5 bytes from queue
[Receiving task]: Received 4 bytes from queue
[Receiving task]: Received 3 bytes from queue
[Receiving task]: Received 2 bytes from queue
[Receiving task]: Received 1 bytes from queue
CASE 2
[Sending task]: [msgQSend(qid,"abcdefghij",10, NO_WAIT, 9)] returned OK
[Sending task]: [msgQSend(qid,"abcdefghi" , 9, NO_WAIT, 8)] returned OK
[Sending task]: [msgQSend(qid,"abcdefgh" , 8, NO_WAIT, 7)] returned OK
[Sending task]: [msgQSend(qid,"abcdefg" , 7, NO_WAIT, 6)] returned OK
[Sending task]: [msgQSend(qid,"abcdef" , 6, NO_WAIT, 5)] returned OK
[Sending task]: [msgQSend(qid,"abcde" , 5, NO_WAIT, 4)] returned OK
[Sending task]: [msgQSend(qid,"abcd" , 4, NO_WAIT, 3)] returned OK
[Sending task]: [msgQSend(qid,"abc" , 3, NO_WAIT, 2)] returned OK
[Sending task]: [msgQSend(qid,"ab" , 2, NO_WAIT, MSG_PRI_URGENT)] returned OK
[Sending task]: [msgQSend(qid,"a" , 1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
[Receiving task]: Received 2 bytes from queue
[Receiving task]: Received 3 bytes from queue
[Receiving task]: Received 4 bytes from queue
[Receiving task]: Received 5 bytes from queue
[Receiving task]: Received 6 bytes from queue
[Receiving task]: Received 7 bytes from queue
[Receiving task]: Received 8 bytes from queue
[Receiving task]: Received 9 bytes from queue
[Receiving task]: Received 10 bytes from queue
[Receiving task]: Received 1 bytes from queue
CASE 3
[Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
[Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, 7)] returned OK
[Receiving task]: Received 8 bytes from queue
[Receiving task]: Received 6 bytes from queue
CASE 4
[Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, 7)] returned OK
[Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
[Receiving task]: Received 6 bytes from queue
[Receiving task]: Received 8 bytes from queue
CASE 5
[Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
[Sending task]: [msgQSend(qid,"a" ,1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
[Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, 7)] returned OK
[Receiving task]: Received 8 bytes from queue
[Receiving task]: Received 6 bytes from queue
[Receiving task]: Received 1 bytes from queue
CASE 6
[Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
[Sending task]: [msgQSend(qid,"a" ,1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
[Sending task]: [msgQSend(qid,"ab" ,2, NO_WAIT,-1)] returned OK
[Receiving task]: Received 2 bytes from queue
[Receiving task]: Received 6 bytes from queue
[Receiving task]: Received 1 bytes from queue
CASE 7
[Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
[Sending task]: [msgQSend(qid,"a" ,1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
[Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, MSG_PRI_NORMAL)] returned OK
[Receiving task]: Received 6 bytes from queue
[Receiving task]: Received 1 bytes from queue
[Receiving task]: Received 8 bytes from queue
ANSWER 3
Calling taskInit() with invalid flags won't return any error code.
SPAWN: taskInit(&tcb, "xeno_test3", 113, 0xffffffff,
stack+TASK_STACK_SIZE,
TASK_STACK_SIZE, (FUNCPTR)task_entry_pnt, 0,0,0,0,0,0,0,0,0,0)
INFO: taskInfoGet((int)&tcb, &td) ---> td.td_options = 0xffffffff
The ti funcion returns the following outoput
-> ti "xeno_test3"
NAME ENTRY TID PRI STATUS PC SP ERRNO
DELAY
---------- ------------ -------- --- ---------- -------- --------
------- -----
xeno_test3 task_entry_p 1b66090 113 SUSPEND 1969f8 1b6a250
0 0
stack: base 0x1b6a290 end 0x1b66290 size 16104 high ??? margin
???
options: 0xffffffff
VX_SUPERVISOR_MODE VX_UNBREAKABLE VX_DEALLOC_STACK VX_FP_TASK
VX_STDIO VX_ADA_DEBUG VX_FORTRAN
VX_PRIVATE_ENV VX_NO_STACK_FILL
--
Alessandro Pittaluga
al.pittaluga@domain.hid
--
http://www.fastmail.fm - One of many happy users:
http://www.fastmail.fm/docs/quotes.html
^ permalink raw reply [flat|nested] 5+ messages in thread* Re: [Xenomai-core] VxWorks skin improvement
2006-03-17 15:13 [Xenomai-help] Re: [Xenomai-core] VxWorks skin improvement Alessandro Pittaluga
@ 2006-03-17 15:40 ` Philippe Gerum
0 siblings, 0 replies; 5+ messages in thread
From: Philippe Gerum @ 2006-03-17 15:40 UTC (permalink / raw)
To: Alessandro Pittaluga; +Cc: xenomai, xenomai
Alessandro Pittaluga wrote:
> Philippe,
> Here follow some tests carried on by my SW lab.
> Hoping this may help.
>
It does, and confirms the other inputs I've had recently on these issues.
Ok, problem solved. Thanks to everyone who helped out.
> Regards
>
> Alessandro
>
> ANSWER 1
> As shown below calling taskName with a null argument will return the
> same result returned by taskName called with the return value of
> taskIdSelf().
> OUTPUT:
> Spawned task xeno_test taskId=0x01a59a48
> This is task_entry_pnt() of task 0x01a59a48
> taskName(0)=xeno_test taskName(taskIdSelf())=xeno_test
> taskName(0x01a59a48)=xeno_test
>
>
> ANSWER 2
> MSG_PRI_NORMAL is defined 0 and MSG_PRI_URGENT is defined 1. It seems
> that all non 0 priority
> messages are managed as urgent. The first message extracted from the
> queue by a receiver is
> the last inserted into the queue with a non 0 priority.
> The following 7 cases show the calling sequence of a sending task and
> the received message
> lengths of a receiving task.
>
> CASE 1
> [Sending task]: [msgQSend(qid,"a" , 1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
> [Sending task]: [msgQSend(qid,"ab" , 2, NO_WAIT, MSG_PRI_URGENT)] returned OK
> [Sending task]: [msgQSend(qid,"abc" , 3, NO_WAIT, 2)] returned OK
> [Sending task]: [msgQSend(qid,"abcd" , 4, NO_WAIT, 3)] returned OK
> [Sending task]: [msgQSend(qid,"abcde" , 5, NO_WAIT, 4)] returned OK
> [Sending task]: [msgQSend(qid,"abcdef" , 6, NO_WAIT, 5)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefg" , 7, NO_WAIT, 6)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefgh" , 8, NO_WAIT, 7)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefghi" , 9, NO_WAIT, 8)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefghij",10, NO_WAIT, 9)] returned OK
>
> [Receiving task]: Received 10 bytes from queue
> [Receiving task]: Received 9 bytes from queue
> [Receiving task]: Received 8 bytes from queue
> [Receiving task]: Received 7 bytes from queue
> [Receiving task]: Received 6 bytes from queue
> [Receiving task]: Received 5 bytes from queue
> [Receiving task]: Received 4 bytes from queue
> [Receiving task]: Received 3 bytes from queue
> [Receiving task]: Received 2 bytes from queue
> [Receiving task]: Received 1 bytes from queue
>
> CASE 2
> [Sending task]: [msgQSend(qid,"abcdefghij",10, NO_WAIT, 9)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefghi" , 9, NO_WAIT, 8)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefgh" , 8, NO_WAIT, 7)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefg" , 7, NO_WAIT, 6)] returned OK
> [Sending task]: [msgQSend(qid,"abcdef" , 6, NO_WAIT, 5)] returned OK
> [Sending task]: [msgQSend(qid,"abcde" , 5, NO_WAIT, 4)] returned OK
> [Sending task]: [msgQSend(qid,"abcd" , 4, NO_WAIT, 3)] returned OK
> [Sending task]: [msgQSend(qid,"abc" , 3, NO_WAIT, 2)] returned OK
> [Sending task]: [msgQSend(qid,"ab" , 2, NO_WAIT, MSG_PRI_URGENT)] returned OK
> [Sending task]: [msgQSend(qid,"a" , 1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
>
> [Receiving task]: Received 2 bytes from queue
> [Receiving task]: Received 3 bytes from queue
> [Receiving task]: Received 4 bytes from queue
> [Receiving task]: Received 5 bytes from queue
> [Receiving task]: Received 6 bytes from queue
> [Receiving task]: Received 7 bytes from queue
> [Receiving task]: Received 8 bytes from queue
> [Receiving task]: Received 9 bytes from queue
> [Receiving task]: Received 10 bytes from queue
> [Receiving task]: Received 1 bytes from queue
>
> CASE 3
> [Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, 7)] returned OK
>
> [Receiving task]: Received 8 bytes from queue
> [Receiving task]: Received 6 bytes from queue
>
> CASE 4
> [Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, 7)] returned OK
> [Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
>
> [Receiving task]: Received 6 bytes from queue
> [Receiving task]: Received 8 bytes from queue
>
> CASE 5
> [Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
> [Sending task]: [msgQSend(qid,"a" ,1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, 7)] returned OK
>
> [Receiving task]: Received 8 bytes from queue
> [Receiving task]: Received 6 bytes from queue
> [Receiving task]: Received 1 bytes from queue
>
> CASE 6
> [Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
> [Sending task]: [msgQSend(qid,"a" ,1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
> [Sending task]: [msgQSend(qid,"ab" ,2, NO_WAIT,-1)] returned OK
>
> [Receiving task]: Received 2 bytes from queue
> [Receiving task]: Received 6 bytes from queue
> [Receiving task]: Received 1 bytes from queue
>
> CASE 7
> [Sending task]: [msgQSend(qid,"abcdef" ,6, NO_WAIT, 5)] returned OK
> [Sending task]: [msgQSend(qid,"a" ,1, NO_WAIT, MSG_PRI_NORMAL)] returned OK
> [Sending task]: [msgQSend(qid,"abcdefgh" ,8, NO_WAIT, MSG_PRI_NORMAL)] returned OK
>
> [Receiving task]: Received 6 bytes from queue
> [Receiving task]: Received 1 bytes from queue
> [Receiving task]: Received 8 bytes from queue
>
> ANSWER 3
> Calling taskInit() with invalid flags won't return any error code.
>
> SPAWN: taskInit(&tcb, "xeno_test3", 113, 0xffffffff,
> stack+TASK_STACK_SIZE,
> TASK_STACK_SIZE, (FUNCPTR)task_entry_pnt, 0,0,0,0,0,0,0,0,0,0)
> INFO: taskInfoGet((int)&tcb, &td) ---> td.td_options = 0xffffffff
>
> The ti funcion returns the following outoput
> -> ti "xeno_test3"
>
> NAME ENTRY TID PRI STATUS PC SP ERRNO
> DELAY
> ---------- ------------ -------- --- ---------- -------- --------
> ------- -----
> xeno_test3 task_entry_p 1b66090 113 SUSPEND 1969f8 1b6a250
> 0 0
>
> stack: base 0x1b6a290 end 0x1b66290 size 16104 high ??? margin
> ???
>
> options: 0xffffffff
> VX_SUPERVISOR_MODE VX_UNBREAKABLE VX_DEALLOC_STACK VX_FP_TASK
> VX_STDIO VX_ADA_DEBUG VX_FORTRAN
> VX_PRIVATE_ENV VX_NO_STACK_FILL
>
>
>
--
Philippe.
^ permalink raw reply [flat|nested] 5+ messages in thread
* [Xenomai-core] VxWorks skin improvement
@ 2006-03-16 13:53 Philippe Gerum
2006-03-17 12:04 ` Niklaus Giger
0 siblings, 1 reply; 5+ messages in thread
From: Philippe Gerum @ 2006-03-16 13:53 UTC (permalink / raw)
To: xenomai, xenomai
I'm currently working on extending the VxWorks skin so that it is going to be
callable from user-space directly, without needing the UVM environment. This will
also make its functional extension easier in the future, especially with respect
to bsp-related services.
While I'm at it, I'd also like to polish a few corner cases, so that we have the
closest possible emulation of the original RTOS services. Unfortunately, the
VxWorks documentation is rather terse on some behavioural aspects, and I have no
VxWorks target at hand to test and check them. Therefore, I definitely need help
from people reading this list who also happen to be VxWorks users, for providing
the following missing bits of information:
- How does taskName() behave when passed a null task id? Is it equivalent to
specifying taskIdSelf(), or does it lead to a NULL error return?
- How does msgQSend() behave when passed an invalid message priority, i.e. neither
MSG_PRI_NORMAL nor MSG_PRI_URGENT?
- How does taskInit() behave when passed an invalid set of task options? Are the
invalid flags ignored, or does the routine return an error status?
If you happen to have a VxWorks target at hand regardless of the architecture, and
are willing to help improving the behavioural correctness of the VxWorks skin,
then your input will be most welcome.
--
Philippe.
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [Xenomai-core] VxWorks skin improvement
2006-03-16 13:53 Philippe Gerum
@ 2006-03-17 12:04 ` Niklaus Giger
2006-03-17 14:45 ` Philippe Gerum
0 siblings, 1 reply; 5+ messages in thread
From: Niklaus Giger @ 2006-03-17 12:04 UTC (permalink / raw)
To: xenomai
[-- Attachment #1: Type: text/plain, Size: 2528 bytes --]
Am Donnerstag, 16. März 2006 14:53 schrieb Philippe Gerum:
> I'm currently working on extending the VxWorks skin so that it is going to
> be callable from user-space directly, without needing the UVM environment.
> This will also make its functional extension easier in the future,
> especially with respect to bsp-related services.
>
> While I'm at it, I'd also like to polish a few corner cases, so that we
> have the closest possible emulation of the original RTOS services.
> Unfortunately, the VxWorks documentation is rather terse on some
> behavioural aspects, and I have no VxWorks target at hand to test and check
> them. Therefore, I definitely need help from people reading this list who
> also happen to be VxWorks users, for providing the following missing bits
> of information:
>
> - How does taskName() behave when passed a null task id? Is it equivalent
> to specifying taskIdSelf(), or does it lead to a NULL error return?
It behaves like taskName(taskIdSelf()). see vx_skin.c.
Output was
-> vx_skin_test_1
myTaskName is 0xf40500 tShell
value = 31 = 0x1f
> - How does msgQSend() behave when passed an invalid message priority, i.e.
> neither MSG_PRI_NORMAL nor MSG_PRI_URGENT?
It doesn't care (see pMsgQue.cpp).
Output was
-> test_init
task1 started
endTime 1834779057842028544
startTime 1832156649595338752
diff 2622408246689792 2622408246689 microSecs per run 26224082466
task1 nrQuestions 100 nrAnswers 100 nrSwitches 100
value = 0 = 0x0
> - How does taskInit() behave when passed an invalid set of task options?
> Are the invalid flags ignored, or does the routine return an error status?
All invalid bits arg ignored, no error returned. see vx_skin.c.
Output was:
-> vx_skin_test_2
taskInit status is 0
taskOptionGet returns 0 is -1
value = 31 = 0x1f
> If you happen to have a VxWorks target at hand regardless of the
> architecture, and are willing to help improving the behavioural correctness
> of the VxWorks skin, then your input will be most welcome.
Hope this help. Please feel free to ask for more tests.
What about a vxWorks test suite? I would like to contribute to it. (At least
as soon as I have a working Xenomai environment again.) And I would be much
more confident to recommend Xenomai if it had test suites for its various
skins. I hope to be able to make some contributions once I get approval to
put a few of our internal test routines available under a free license.
Best regards
Niklaus Giger
[-- Attachment #2: pMsgQue.cpp --]
[-- Type: text/x-c++src, Size: 4427 bytes --]
/*
* Copyright (C) 2005 Niklaus Giger <niklaus.giger@domain.hid>.
*
* vxWorks is a registered trademark of Wind River Systems, Inc.
*
* 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, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* Hopefully this program lets you compare the relative performance of
* taskSwitches and message passing between an original vxWorks image and
* a xenomai based port.
*/
#ifdef XENOMAI
#include <xeno_config.h>
#include <vxworks/vxworks.h>
#include <xenomai/timer.h>
MODULE_LICENSE("GPL");
#else
#include <vxWorks.h>
#include <stdio.h>
#include <msgQLib.h>
#include <taskLib.h>
#include <sysLib.h>
#include <arch/ppc/vxPpcLib.h>
#define xnprintf printf
#define taskExit exit
#define RTIME UINT64
RTIME rt_timer_tsc();
RTIME rt_timer_tsc()
{
UINT32 low, high;
UINT64 res;
vxTimeBaseGet (&low, &high);
res = (UINT64) low + ((UINT64) high)<<32;
return res;
}
#endif
#define TASK_PRI 115
#define STACK_SIZE 8192
MSG_Q_ID question_qid, answer_qid;
int producer_tid,
consumer_tid,
test_tid;
static int nrQuestions;
static int nrAnswers;
static int nrSwitches;
void reportState(const char *where)
{
xnprintf("%s nrQuestions %d nrAnswers %d nrSwitches %d\n",
where, nrQuestions, nrAnswers, nrSwitches);
}
#define NR_RUNS 100
void task1 (int a0, int a1, int a2, int a3, int a4,
int a5, int a6, int a7, int a8, int a9)
{
int msg;
int sz;
int j;
RTIME diff, startTime, endTime;
xnprintf("task1 started\n");
startTime = rt_timer_tsc();
for (j=0; j<NR_RUNS; j++)
{
// taskDelay(sysClkRateGet()/2);
// startTime = rt_timer_tsc();
msg = nrQuestions;
msgQSend(question_qid,
(char *)&msg,sizeof(msg),WAIT_FOREVER,MSG_PRI_NORMAL);
++nrQuestions;
if ( (sz = msgQReceive(answer_qid,
(char *)&msg,sizeof(msg),WAIT_FOREVER)) == ERROR)
{
reportState(__func__);
taskExit(3);
}
++nrSwitches;
}
endTime = rt_timer_tsc();
diff = endTime - startTime;
xnprintf("endTime %16llu\n", endTime);
xnprintf("startTime %16llu\n", startTime);
xnprintf("diff %16llu %llu microSecs per run %llu\n", diff,
diff / 1000, diff / (1000 * NR_RUNS));
reportState(__func__);
}
void task2 (int a0, int a1, int a2, int a3, int a4,
int a5, int a6, int a7, int a8, int a9)
{
int msg;
int sz;
int j;
int status;
// for (j=0;j<5;j++)
while (1)
{
if ( (sz = msgQReceive(question_qid,
(char*)&msg,sizeof(msg),WAIT_FOREVER)) == ERROR)
{
reportState(__func__);
taskExit(3);
}
++nrAnswers;
msg = nrAnswers;
status = msgQSend(answer_qid,
(char *)&msg,sizeof(msg),WAIT_FOREVER,MSG_PRI_NORMAL | 0xffff);
if(status != OK)
{
printf("\n msgQSend failed with status %d", status);
taskExit(3);
}
}
}
const int MeasurementInSeconds = 5;
int test_init(void)
{
question_qid = msgQCreate(16,sizeof(int),MSG_Q_FIFO);
answer_qid = msgQCreate(16,sizeof(int),MSG_Q_FIFO);
consumer_tid = taskSpawn("tTask1",
TASK_PRI,
0,
STACK_SIZE,
(FUNCPTR)&task1,
0,0,0,0,0,0,0,0,0,0);
producer_tid = taskSpawn("tTask2",
TASK_PRI,
0,
STACK_SIZE,
(FUNCPTR)&task2,
0,0,0,0,0,0,0,0,0,0);
return 0;
}
#ifdef XENOMAI
int root_thread_init (void)
{ test_tid = taskSpawn("tTask1",
TASK_PRI,
0,
STACK_SIZE,
(FUNCPTR)&test_init,
0,0,0,0,0,0,0,0,0,0);
// test_init();
return 0;
}
void root_thread_exit (void)
{
xnprintf("root_thread_exit\n");
taskDelete(test_tid);
taskDelete(producer_tid);
taskDelete(consumer_tid);
msgQDelete(question_qid);
msgQDelete(answer_qid);
}
#endif
[-- Attachment #3: vx_skin_1.c --]
[-- Type: text/x-csrc, Size: 1431 bytes --]
#include <vxWorks.h>
#include <stdio.h>
#include "taskLib.h"
void vx_skin_test_1()
{
char *myTaskName = taskName(0);
printf("\nmyTaskName is %p %s\n",myTaskName, myTaskName);
}
void vx_skin_test_2()
{
char *stack_base;
char *task_name=0;
WIND_TCB *tcb_base;
STATUS status;
int stack_size = 2048;
int priority = 150;
int options = -1;
FUNCPTR entry_point = (FUNCPTR) vx_skin_test_1;
tcb_base = (WIND_TCB *) malloc ( sizeof (WIND_TCB) );
stack_base = malloc (stack_size);
status = taskInit (tcb_base, /* TaskControlBlock */
task_name, /* Task-Name */
priority, /* Prioritaet der neuen Task */
options, /* Task-Optionen */
stack_base + stack_size, /* Stack-Start */
stack_size, /* Stack-Groesse */
entry_point, /* Task-Funktion */
1, 2, 3, 4, 5, 6, 7, 8, 9, 10);
printf("\ntaskInit status is %d\n", status);
options = 0xaffeaffe;
status = taskOptionsGet((int)tcb_base, &options);
printf("\ntaskOptionGet returns %d is %d\n", status, options);
}
^ permalink raw reply [flat|nested] 5+ messages in thread* Re: [Xenomai-core] VxWorks skin improvement
2006-03-17 12:04 ` Niklaus Giger
@ 2006-03-17 14:45 ` Philippe Gerum
0 siblings, 0 replies; 5+ messages in thread
From: Philippe Gerum @ 2006-03-17 14:45 UTC (permalink / raw)
To: niklaus.giger; +Cc: xenomai, xenomai
Niklaus Giger wrote:
> Am Donnerstag, 16. März 2006 14:53 schrieb Philippe Gerum:
>
>>I'm currently working on extending the VxWorks skin so that it is going to
>>be callable from user-space directly, without needing the UVM environment.
>>This will also make its functional extension easier in the future,
>>especially with respect to bsp-related services.
>>
>>While I'm at it, I'd also like to polish a few corner cases, so that we
>>have the closest possible emulation of the original RTOS services.
>>Unfortunately, the VxWorks documentation is rather terse on some
>>behavioural aspects, and I have no VxWorks target at hand to test and check
>>them. Therefore, I definitely need help from people reading this list who
>>also happen to be VxWorks users, for providing the following missing bits
>>of information:
>>
>>- How does taskName() behave when passed a null task id? Is it equivalent
>>to specifying taskIdSelf(), or does it lead to a NULL error return?
>
> It behaves like taskName(taskIdSelf()). see vx_skin.c.
> Output was
> -> vx_skin_test_1
>
> myTaskName is 0xf40500 tShell
> value = 31 = 0x1f
>
>
>>- How does msgQSend() behave when passed an invalid message priority, i.e.
>>neither MSG_PRI_NORMAL nor MSG_PRI_URGENT?
>
> It doesn't care (see pMsgQue.cpp).
> Output was
> -> test_init
> task1 started
> endTime 1834779057842028544
> startTime 1832156649595338752
> diff 2622408246689792 2622408246689 microSecs per run 26224082466
> task1 nrQuestions 100 nrAnswers 100 nrSwitches 100
> value = 0 = 0x0
>
>>- How does taskInit() behave when passed an invalid set of task options?
>>Are the invalid flags ignored, or does the routine return an error status?
>
> All invalid bits arg ignored, no error returned. see vx_skin.c.
> Output was:
> -> vx_skin_test_2
>
> taskInit status is 0
>
> taskOptionGet returns 0 is -1
> value = 31 = 0x1f
>
>>If you happen to have a VxWorks target at hand regardless of the
>>architecture, and are willing to help improving the behavioural correctness
>>of the VxWorks skin, then your input will be most welcome.
>
> Hope this help. Please feel free to ask for more tests.
Great, I will fix the skin using this information. Thanks.
> What about a vxWorks test suite? I would like to contribute to it.
You would be most welcome doing so.
(At least
> as soon as I have a working Xenomai environment again.)
And I would be much
> more confident to recommend Xenomai if it had test suites for its various
> skins. I hope to be able to make some contributions once I get approval to
> put a few of our internal test routines available under a free license.
>
The most useful way to help would be to develop the testsuite for validating the
recent evolution of the VxWorks skin, which now has a fully native call interface
from user-space, i.e. it does not need the UVM layer anymore, albeit the former
way will still be available. Let me know whenever you want to help this way, so
that we could synchronize, for a better efficiency in fixing the potential issues.
> Best regards
>
> Niklaus Giger
>
>
> ------------------------------------------------------------------------
>
> /*
> * Copyright (C) 2005 Niklaus Giger <niklaus.giger@domain.hid>.
> *
> * vxWorks is a registered trademark of Wind River Systems, Inc.
> *
> * 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, write to the Free Software
> * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
> *
> * Hopefully this program lets you compare the relative performance of
> * taskSwitches and message passing between an original vxWorks image and
> * a xenomai based port.
> */
>
> #ifdef XENOMAI
> #include <xeno_config.h>
> #include <vxworks/vxworks.h>
> #include <xenomai/timer.h>
> MODULE_LICENSE("GPL");
> #else
> #include <vxWorks.h>
> #include <stdio.h>
> #include <msgQLib.h>
> #include <taskLib.h>
> #include <sysLib.h>
> #include <arch/ppc/vxPpcLib.h>
> #define xnprintf printf
> #define taskExit exit
> #define RTIME UINT64
> RTIME rt_timer_tsc();
>
> RTIME rt_timer_tsc()
> {
> UINT32 low, high;
> UINT64 res;
> vxTimeBaseGet (&low, &high);
> res = (UINT64) low + ((UINT64) high)<<32;
> return res;
> }
> #endif
>
>
> #define TASK_PRI 115
> #define STACK_SIZE 8192
>
> MSG_Q_ID question_qid, answer_qid;
>
> int producer_tid,
> consumer_tid,
> test_tid;
> static int nrQuestions;
> static int nrAnswers;
> static int nrSwitches;
> void reportState(const char *where)
> {
> xnprintf("%s nrQuestions %d nrAnswers %d nrSwitches %d\n",
> where, nrQuestions, nrAnswers, nrSwitches);
> }
>
> #define NR_RUNS 100
> void task1 (int a0, int a1, int a2, int a3, int a4,
> int a5, int a6, int a7, int a8, int a9)
> {
> int msg;
> int sz;
> int j;
> RTIME diff, startTime, endTime;
> xnprintf("task1 started\n");
> startTime = rt_timer_tsc();
> for (j=0; j<NR_RUNS; j++)
> {
> // taskDelay(sysClkRateGet()/2);
> // startTime = rt_timer_tsc();
> msg = nrQuestions;
> msgQSend(question_qid,
> (char *)&msg,sizeof(msg),WAIT_FOREVER,MSG_PRI_NORMAL);
> ++nrQuestions;
> if ( (sz = msgQReceive(answer_qid,
> (char *)&msg,sizeof(msg),WAIT_FOREVER)) == ERROR)
> {
> reportState(__func__);
> taskExit(3);
> }
> ++nrSwitches;
> }
> endTime = rt_timer_tsc();
> diff = endTime - startTime;
> xnprintf("endTime %16llu\n", endTime);
> xnprintf("startTime %16llu\n", startTime);
> xnprintf("diff %16llu %llu microSecs per run %llu\n", diff,
> diff / 1000, diff / (1000 * NR_RUNS));
> reportState(__func__);
> }
>
> void task2 (int a0, int a1, int a2, int a3, int a4,
> int a5, int a6, int a7, int a8, int a9)
> {
> int msg;
> int sz;
> int j;
> int status;
> // for (j=0;j<5;j++)
> while (1)
> {
> if ( (sz = msgQReceive(question_qid,
> (char*)&msg,sizeof(msg),WAIT_FOREVER)) == ERROR)
> {
> reportState(__func__);
> taskExit(3);
> }
> ++nrAnswers;
> msg = nrAnswers;
> status = msgQSend(answer_qid,
> (char *)&msg,sizeof(msg),WAIT_FOREVER,MSG_PRI_NORMAL | 0xffff);
> if(status != OK)
> {
> printf("\n msgQSend failed with status %d", status);
> taskExit(3);
> }
> }
> }
>
> const int MeasurementInSeconds = 5;
> int test_init(void)
> {
> question_qid = msgQCreate(16,sizeof(int),MSG_Q_FIFO);
> answer_qid = msgQCreate(16,sizeof(int),MSG_Q_FIFO);
>
> consumer_tid = taskSpawn("tTask1",
> TASK_PRI,
> 0,
> STACK_SIZE,
> (FUNCPTR)&task1,
> 0,0,0,0,0,0,0,0,0,0);
>
> producer_tid = taskSpawn("tTask2",
> TASK_PRI,
> 0,
> STACK_SIZE,
> (FUNCPTR)&task2,
> 0,0,0,0,0,0,0,0,0,0);
> return 0;
> }
>
> #ifdef XENOMAI
> int root_thread_init (void)
>
> { test_tid = taskSpawn("tTask1",
> TASK_PRI,
> 0,
> STACK_SIZE,
> (FUNCPTR)&test_init,
> 0,0,0,0,0,0,0,0,0,0);
>
> // test_init();
> return 0;
> }
>
> void root_thread_exit (void)
>
> {
> xnprintf("root_thread_exit\n");
> taskDelete(test_tid);
> taskDelete(producer_tid);
> taskDelete(consumer_tid);
> msgQDelete(question_qid);
> msgQDelete(answer_qid);
> }
> #endif
>
>
> ------------------------------------------------------------------------
>
> #include <vxWorks.h>
> #include <stdio.h>
> #include "taskLib.h"
>
> void vx_skin_test_1()
> {
> char *myTaskName = taskName(0);
> printf("\nmyTaskName is %p %s\n",myTaskName, myTaskName);
> }
>
> void vx_skin_test_2()
> {
> char *stack_base;
> char *task_name=0;
> WIND_TCB *tcb_base;
> STATUS status;
> int stack_size = 2048;
> int priority = 150;
> int options = -1;
> FUNCPTR entry_point = (FUNCPTR) vx_skin_test_1;
> tcb_base = (WIND_TCB *) malloc ( sizeof (WIND_TCB) );
> stack_base = malloc (stack_size);
> status = taskInit (tcb_base, /* TaskControlBlock */
> task_name, /* Task-Name */
> priority, /* Prioritaet der neuen Task */
> options, /* Task-Optionen */
> stack_base + stack_size, /* Stack-Start */
> stack_size, /* Stack-Groesse */
> entry_point, /* Task-Funktion */
> 1, 2, 3, 4, 5, 6, 7, 8, 9, 10);
> printf("\ntaskInit status is %d\n", status);
> options = 0xaffeaffe;
> status = taskOptionsGet((int)tcb_base, &options);
> printf("\ntaskOptionGet returns %d is %d\n", status, options);
>
> }
>
--
Philippe.
^ permalink raw reply [flat|nested] 5+ messages in thread
end of thread, other threads:[~2006-03-17 15:40 UTC | newest]
Thread overview: 5+ messages (download: mbox.gz follow: Atom feed
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2006-03-17 15:13 [Xenomai-help] Re: [Xenomai-core] VxWorks skin improvement Alessandro Pittaluga
2006-03-17 15:40 ` Philippe Gerum
-- strict thread matches above, loose matches on Subject: below --
2006-03-16 13:53 Philippe Gerum
2006-03-17 12:04 ` Niklaus Giger
2006-03-17 14:45 ` Philippe Gerum
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