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* [Xenomai-help] Rép. : Re:  Rép. : Re:  T_RRB
@ 2008-02-13 13:56 Hubert Talbot
  2008-02-13 14:31 ` Philippe Gerum
  0 siblings, 1 reply; 2+ messages in thread
From: Hubert Talbot @ 2008-02-13 13:56 UTC (permalink / raw)
  To: rpm; +Cc: xenomai

Thanks for explanations. It's clearer now.

But...

In the following code (almost the same), there is one task that dies prematurely.


//******************************************************************************
#include <stdio.h>

#include <sys/mman.h>

#include <native/task.h>

#include <native/timer.h>

#include <native/sem.h>


#define NBTASK 1

#define NSEC 	1

#define USEC 	1000

#define MSEC 	1000000

#define SEC 	1000000000LL

#define PERIOD  (10 * MSEC)

RT_TASK tasks[NBTASK];

RT_SEM sem;

unsigned long counts[NBTASK];



static inline unsigned tick_delta(RTIME t0, RTIME t1)

{
//	return ((unsigned)(t1 - t0) * PERIOD) / SEC;

	return rt_timer_ticks2ns(t1 - t0) / SEC;

}



void my_sleep(int nSec, int taskID)

{

	RTIME start_ticks, wait_ticks;

	
//	wait_ticks = (nSec * SEC) / PERIOD;

	wait_ticks = nSec * rt_timer_ns2ticks(SEC);

	start_ticks = rt_timer_read();
	
	while (rt_timer_read() - start_ticks <= wait_ticks)
	{
		counts[taskID]++;
	}

}



void task(void *arg)

{

	int taskID = (int)(long)arg;

	RTIME start_date, end_date;

	RTIME start_ticks, wait_ticks;

	

	rt_task_slice(NULL, rt_timer_ns2ticks(PERIOD));

	rt_task_set_mode(0, T_RRB, 0);
	
   	printf("task %d start...\n", taskID);

	rt_sem_p(&sem, TM_INFINITE);



	start_date = rt_timer_read();
	my_sleep(5, taskID);
	end_date = rt_timer_read();



	printf("task %d end (%u sec) --> %u\n", taskID, tick_delta(start_date, end_date), counts[taskID]);

}



int main(void)

{

	int rc;

	int i;

	RTIME tv1, tv2;


	mlockall(MCL_CURRENT | MCL_FUTURE);
	
	memset(counts, 0, NBTASK * sizeof(unsigned long));


	rc = rt_timer_set_mode(1 * MSEC);

	if (rc != 0)

	{

		printf("failed to rt_timer_set_mode: %d\n", rc);

		return rc;

	}
	
	rt_sem_create(&sem, "sem", 0, S_FIFO);

	

	for (i = 0; i < NBTASK; i++)

	{

		char szTaskID[20];

		sprintf(szTaskID, "Task%02d", i);

		rt_task_create(&tasks[i],

				szTaskID,

				4096,

				99,

				T_JOINABLE);

	}



	tv1 = rt_timer_read();


	for (i = 0; i < NBTASK; i++)

	{

	   	RT_TASK_INFO info;

	

		rt_task_start(&tasks[i], &task, (void *)(long)i);

	}	

	
	rt_sem_broadcast(&sem);



	for (i = 0; i < NBTASK; i++)

	{

   		rt_task_join(&tasks[i]);

		printf("task %d count = %u\n", i, counts[i]);

   	}

	tv2 = rt_timer_read();

	printf("****** total time: %u (sec)\n\n", tick_delta(tv1, tv2));


	rt_sem_delete(&sem);
	
/*
	tv1 = rt_timer_read();


	my_sleep(10, 9);

	tv2 = rt_timer_read();

	printf("****** total time: %u (sec)\n\n", tick_delta(tv1, tv2));

*/

	return 0;

}

//******************************************************************************


With...

#define NBTASK 5
------------------------


output is (task 2 died prematurely):

task 0 start...
task 1 start...
task 2 start...
task 3 start...
task 4 start...
task 0 end (5 sec) --> 4452399
task 1 end (5 sec) --> 4456435
task 3 end (5 sec) --> 4497016
task 4 end (5 sec) --> 4513423
task 0 count = 4452399
task 1 count = 4456435
task 2 count = 2687455
task 3 count = 4497016
task 4 count = 4513423
****** total time: 5 (sec)

#define NBTASK 3
------------------------


output is (task 2 died prematurely):

task 0 start...
task 1 start...
task 2 start...
task 0 end (5 sec) --> 8130524
task 1 end (5 sec) --> 8140688
task 0 count = 8130524
task 1 count = 8140688
task 2 count = 4211880
****** total time: 5 (sec)

#define NBTASK 1
------------------------


output is (task 0 died prematurely):

task 0 start...
task 0 count = 14200778
****** total time: 3 (sec)


I think it's abnormal. Isn't it?


Thanks

Hubert




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2008-02-13 13:56 [Xenomai-help] Rép. : Re: Rép. : Re: T_RRB Hubert Talbot
2008-02-13 14:31 ` Philippe Gerum

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