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include/, sched/, and libc/: Add support for sporadic scheduling parameters in struct sched_param, posix_spawnattr_t, and pthread_attr_t. Update all user interfaces to pass sporadic scheduling parameters. Feature is dependent on EXPERIMENTAL and no changes have yet been made to core scheduling logic.

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This commit is contained in:
Gregory Nutt 2015-07-23 13:16:32 -06:00
parent 13e837b957
commit 9095e8eab4
22 changed files with 352 additions and 144 deletions
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1
ChangeLog
View file

@ -10756,3 +10756,4 @@
planned scheduling policies (2015-07-23).
* pthread_create: Fix an (unlikely) error in fallback value in the
event of a failure (which should never occur) (2015-07-23).
* include/, sched/, and libc/: Add support for sporadic scheduling parameters in struct sched_param, posix_spawnattr_t, and pthread_attr_t. Update all user interfaces to pass sporadic scheduling parameters. Feature is dependent on EXPERIMENTAL and no changes have yet been made to core scheduling logic (2015-07-23).

28
include/nuttx/pthread.h
View file

@ -51,13 +51,27 @@
/* Default pthread attribute initializer */
#define PTHREAD_ATTR_INITIALIZER \
{ \
PTHREAD_STACK_DEFAULT, /* stacksize */ \
PTHREAD_DEFAULT_PRIORITY, /* priority */ \
SCHED_RR, /* policy */ \
PTHREAD_EXPLICIT_SCHED, /* inheritsched */ \
}
#ifdef CONFIG_SCHED_SPORADIC
# define PTHREAD_ATTR_INITIALIZER \
{ \
PTHREAD_DEFAULT_PRIORITY, /* priority */ \
SCHED_RR, /* policy */ \
PTHREAD_EXPLICIT_SCHED, /* inheritsched */ \
0, /* low_priority */ \
0, /* max_repl */ \
PTHREAD_STACK_DEFAULT, /* stacksize */ \
{0, 0}, /* repl_period */ \
{0, 0}, /* budget */ \
}
#else
# define PTHREAD_ATTR_INITIALIZER \
{ \
PTHREAD_DEFAULT_PRIORITY, /* priority */ \
SCHED_RR, /* policy */ \
PTHREAD_EXPLICIT_SCHED, /* inheritsched */ \
PTHREAD_STACK_DEFAULT, /* stacksize */ \
}
#endif
/****************************************************************************
* Public Data

5
include/nuttx/sched.h
View file

@ -485,7 +485,8 @@ struct tcb_s
uint8_t base_priority; /* "Normal" priority of the thread */
#endif
#ifdef CONFIG_SCHED_SPORADIC
int32_t low_priority; /* Sporadic low priority */
uint8_t low_priority; /* Sporadic low priority */
uint8_t max_repl; /* Max. replenishments */
#endif
uint8_t task_state; /* Current state of the thread */
@ -498,7 +499,7 @@ struct tcb_s
#endif
#ifdef CONFIG_SCHED_SPORADIC
uint32_t spstart; /* Start time of execution budget */
uint32_t replen; /* Sporadic replenishment interval */
uint32_t repl_period; /* Sporadic replenishment period */
uint32_t budget; /* Sporadic execution budget */
#endif

21
include/pthread.h
View file

@ -1,7 +1,7 @@
/********************************************************************************
* include/pthread.h
*
* Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2007-2009, 2011-2012, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -166,10 +166,21 @@ typedef pthread_startroutine_t pthread_func_t;
struct pthread_attr_s
{
size_t stacksize; /* Size of the stack allocated for the pthread */
int16_t priority; /* Priority of the pthread */
uint8_t policy; /* Pthread scheduler policy */
uint8_t inheritsched; /* Inherit parent prio/policy? */
uint8_t priority; /* Priority of the pthread */
uint8_t policy; /* Pthread scheduler policy */
uint8_t inheritsched; /* Inherit parent prio/policy? */
#ifdef CONFIG_SCHED_SPORADIC
uint8_t low_priority; /* Low scheduling priority*/
uint8_t max_repl; /* Maximum pending replenishments */
#endif
size_t stacksize; /* Size of the stack allocated for the pthread */
#ifdef CONFIG_SCHED_SPORADIC
struct timespec repl_period; /* Replenishment period */
struct timespec budget; /* Initial budget */
#endif
};
typedef struct pthread_attr_s pthread_attr_t;

13
include/sched.h
View file

@ -49,7 +49,6 @@
/********************************************************************************
* Pre-processor Definitions
********************************************************************************/
/* Task Management Definitions **************************************************/
/* POSIX-like scheduling policies */
@ -71,7 +70,17 @@
struct sched_param
{
int sched_priority;
int sched_priority; /* Base thread priority */
#ifdef CONFIG_SCHED_SPORADIC
int sched_ss_low_priority; /* Low scheduling priority for sporadic
* server */
struct timespec sched_ss_repl_period; /* Replenishment period for sporadic
* server. */
struct timespec sched_ss_init_budget; /* Initial budget for sporadic server */
int sched_ss_max_repl; /* Maximum pending replenishments for
* sporadic server. */
#endif
};
/********************************************************************************

15
include/spawn.h
View file

@ -1,7 +1,7 @@
/****************************************************************************
* include/spawn.h
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -78,6 +78,7 @@
* because the user will be required to allocate this memory.
*/
struct timespec;
struct posix_spawnattr_s
{
/* Used by posix_spawn, posix_spawnp, and task_spawn */
@ -85,6 +86,12 @@ struct posix_spawnattr_s
uint8_t flags; /* See POSIX_SPAWN_ definitions */
uint8_t priority; /* Task scheduling priority */
uint8_t policy; /* Task scheduling policy */
#ifdef CONFIG_SCHED_SPORADIC
uint8_t low_priority; /* Low scheduling priority*/
uint8_t max_repl; /* Maximum pending replenishments */
#endif
#ifndef CONFIG_DISABLE_SIGNALS
sigset_t sigmask; /* Signals to be masked */
#endif
@ -94,6 +101,12 @@ struct posix_spawnattr_s
size_t stacksize; /* Task stack size */
#endif
#ifdef CONFIG_SCHED_SPORADIC
struct timespec repl_period; /* Replenishment period */
struct timespec budget; /* Initial budget */
#endif
};
typedef struct posix_spawnattr_s posix_spawnattr_t;

56
include/unistd.h
View file

@ -68,31 +68,45 @@
/* POSIX feature set macros */
#define POSIX_VERSION
#undef _POSIX_SAVED_IDS
#undef _POSIX_JOB_CONTROL
#define _POSIX_REALTIME_SIGNALS 1
#define _POSIX_MESSAGE_PASSING 1
#undef _POSIX_MAPPED_FILES
#undef _POSIX_SHARED_MEMORY_OBJECTS
#define _POSIX_PRIORITY_SCHEDULING 1
#define _POSIX_TIMERS 1
#undef _POSIX_MEMLOCK
#undef _POSIX_MEMLOCK_RANGE
#undef _POSIX_FSYNC
#define _POSIX_SYNCHRONIZED_IO 1
#undef _POSIX_ASYNCHRONOUS_IO
#undef _POSIX_PRIORITIZED_IO
#define POSIX_VERSION
#undef _POSIX_SAVED_IDS
#undef _POSIX_JOB_CONTROL
#define _POSIX_REALTIME_SIGNALS 1
#define _POSIX_MESSAGE_PASSING 1
#undef _POSIX_MAPPED_FILES
#undef _POSIX_SHARED_MEMORY_OBJECTS
#define _POSIX_PRIORITY_SCHEDULING 1
#define _POSIX_TIMERS 1
#undef _POSIX_MEMLOCK
#undef _POSIX_MEMLOCK_RANGE
#undef _POSIX_FSYNC
#define _POSIX_SYNCHRONIZED_IO 1
#ifdef CONFIG_FS_AIO
# define _POSIX_ASYNCHRONOUS_IO 1
#else
# undef _POSIX_ASYNCHRONOUS_IO
#endif
#undef _POSIX_PRIORITIZED_IO
#ifdef CONFIG_SCHED_SPORADIC
# define _POSIX_SPORADIC_SERVER 1
# define _POSIX_THREAD_SPORADIC_SERVER 1
#else
# undef _POSIX_SPORADIC_SERVER
# undef _POSIX_THREAD_SPORADIC_SERVER
#endif
/* Execution time constants (not supported) */
#undef _POSIX_CHOWN_RESTRICTED
#undef _POSIX_NO_TRUNC
#undef _POSIX_VDISABLE
#undef _POSIX_CHOWN_RESTRICTED
#undef _POSIX_NO_TRUNC
#undef _POSIX_VDISABLE
#define _POSIX_SYNC_IO 1
#undef _POSIX_ASYNC_IO
#undef _POSIX_PRIO_IO
#define _POSIX_SYNC_IO 1
#undef _POSIX_ASYNC_IO
#undef _POSIX_PRIO_IO
#define fdatasync(f) fsync(f)

33
libc/pthread/pthread_attrgetschedparam.c
View file

@ -45,26 +45,6 @@
#include <debug.h>
#include <errno.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Global Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
@ -98,13 +78,18 @@ int pthread_attr_getschedparam(FAR const pthread_attr_t *attr,
}
else
{
param->sched_priority = attr->priority;
param->sched_priority = (int)attr->priority;
#ifdef CONFIG_SCHED_SPORADIC
param->sched_ss_low_priority = (int)attr->low_priority;
param->sched_ss_max_repl = (int)attr->max_repl;
param->sched_ss_repl_period.tv_sec = attr->repl_period.tv_sec;
param->sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
param->sched_ss_init_budget.tv_sec = attr->budget.tv_sec;
param->sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
ret = OK;
}
sdbg("Returning %d\n", ret);
return ret;
}

41
libc/pthread/pthread_attrsetschedparam.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* libc/pthread/pthread_attrsetschedparam.c
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Copyright (C) 2007-2009, 2011, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -45,30 +45,6 @@
#include <debug.h>
#include <errno.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Global Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Function: pthread_attr_setschedparam
*
@ -86,7 +62,7 @@
****************************************************************************/
int pthread_attr_setschedparam(FAR pthread_attr_t *attr,
FAR const struct sched_param *param)
FAR const struct sched_param *param)
{
int ret;
@ -98,11 +74,18 @@ int pthread_attr_setschedparam(FAR pthread_attr_t *attr,
}
else
{
attr->priority = (short)param->sched_priority;
attr->priority = (short)param->sched_priority;
#ifdef CONFIG_SCHED_SPORADIC
attr->low_priority = (uint8_t)param->sched_ss_low_priority;
attr->max_repl = (uint8_t)param->sched_ss_max_repl;
attr->repl_period.tv_sec = param->sched_ss_repl_period.tv_sec;
attr->repl_period.tv_nsec = param->sched_ss_repl_period.tv_nsec;
attr->budget.tv_sec = param->sched_ss_init_budget.tv_sec;
attr->budget.tv_nsec = param->sched_ss_init_budget.tv_nsec;
#endif
ret = OK;
}
sdbg("Returning %d\n", ret);
return ret;
}

10
libc/spawn/lib_psa_getschedparam.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* libc/string/lib_psa_getschedparam.c
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -70,5 +70,13 @@ int posix_spawnattr_getschedparam(FAR const posix_spawnattr_t *attr,
{
DEBUGASSERT(attr && param);
param->sched_priority = attr->priority;
#ifdef CONFIG_SCHED_SPORADIC
param->sched_ss_low_priority = (int)attr->low_priority;
param->sched_ss_max_repl = (int)attr->max_repl;
param->sched_ss_repl_period.tv_sec = attr->repl_period.tv_sec;
param->sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
param->sched_ss_init_budget.tv_sec = attr->budget.tv_sec;
param->sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
return OK;
}

25
libc/spawn/lib_psa_init.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* libc/string/lib_psa_init.c
*
* Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
* Copyright (C) 2013-2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -88,22 +88,35 @@ int posix_spawnattr_init(posix_spawnattr_t *attr)
return errno;
}
attr->priority = param.sched_priority;
attr->priority = param.sched_priority;
/* Set the default scheduler policy to the policy of this task */
attr->policy = sched_getscheduler(0);
attr->policy = sched_getscheduler(0);
#ifndef CONFIG_DISABLE_SIGNALS
/* Empty signal masek */
/* Empty signal mask */
attr->sigmask = 0;
attr->sigmask = 0;
#endif
#ifdef CONFIG_SCHED_SPORADIC
/* Sporadic scheduling parameters */
attr->low_priority = (uint8_t)param.sched_ss_low_priority;
attr->max_repl = (uint8_t)param.sched_ss_max_repl;
attr->repl_period.tv_sec = param.sched_ss_repl_period.tv_sec;
attr->repl_period.tv_nsec = param.sched_ss_repl_period.tv_nsec;
attr->budget.tv_sec = param.sched_ss_init_budget.tv_sec;
attr->budget.tv_nsec = param.sched_ss_init_budget.tv_nsec;
#endif
#ifndef CONFIG_ARCH_ADDRENV
/* Default stack size */
attr->stacksize = CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE;
attr->stacksize = CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE;
#endif
return OK;
}

14
libc/spawn/lib_psa_setschedparam.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* libc/string/lib_psa_setschedparam.c
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -69,6 +69,16 @@ int posix_spawnattr_setschedparam(FAR posix_spawnattr_t *attr,
FAR const struct sched_param *param)
{
DEBUGASSERT(attr && param && (unsigned)param->sched_priority <= 0xff);
attr->priority = (uint8_t)param->sched_priority;
attr->priority = (uint8_t)param->sched_priority;
#ifdef CONFIG_SCHED_SPORADIC
attr->low_priority = (uint8_t)param->sched_ss_low_priority;
attr->max_repl = (uint8_t)param->sched_ss_max_repl;
attr->repl_period.tv_sec = param->sched_ss_repl_period.tv_sec;
attr->repl_period.tv_nsec = param->sched_ss_repl_period.tv_nsec;
attr->budget.tv_sec = param->sched_ss_init_budget.tv_sec;
attr->budget.tv_nsec = param->sched_ss_init_budget.tv_nsec;
#endif
return OK;
}

23
libc/wqueue/work_usrthread.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* libc/wqueue/work_usrthread.c
*
* Copyright (C) 2009-2014 Gregory Nutt. All rights reserved.
* Copyright (C) 2009-2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -375,7 +375,7 @@ int work_usrstart(void)
pthread_t usrwork;
pthread_attr_t attr;
struct sched_param param;
int status;
int ret;
/* Set up the work queue lock */
@ -386,13 +386,26 @@ int work_usrstart(void)
(void)pthread_attr_init(&attr);
(void)pthread_attr_setstacksize(&attr, CONFIG_LIB_USRWORKSTACKSIZE);
+#ifdef CONFIG_SCHED_SPORADIC
/* Get the current sporadic scheduling parameters. Those will not be
* modified.
*/
ret = set_getparam(pid, &param);
if (ret < 0)
{
int erroode = get_errno();
return -errcode;
}
#endif
param.sched_priority = CONFIG_LIB_USRWORKPRIORITY;
(void)pthread_attr_setschedparam(&attr, &param);
status = pthread_create(&usrwork, &attr, work_usrthread, NULL);
if (status != 0)
ret = pthread_create(&usrwork, &attr, work_usrthread, NULL);
if (ret != 0)
{
return -status;
return -ret;
}
/* Detach because the return value and completion status will not be

1
sched/Kconfig
View file

@ -310,6 +310,7 @@ config RR_INTERVAL
config SCHED_SPORADIC
bool "Support sporadic scheduling"
default n
depends on EXPERIMENTAL
---help---
Build in additional logic to support sporadic scheduling (SCHED_SPORADIC).

51
sched/pthread/pthread_create.c
View file

@ -234,10 +234,11 @@ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
{
FAR struct pthread_tcb_s *ptcb;
FAR struct join_s *pjoin;
int priority;
#if CONFIG_RR_INTERVAL > 0
int policy;
#ifdef CONFIG_SCHED_SPORADIC
int ticks;
#endif
int priority;
int policy;
int errcode;
pid_t pid;
int ret;
@ -315,26 +316,39 @@ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
{
struct sched_param param;
/* Get the priority for this thread. */
/* Get the priority (and any other scheduling parameters) for this
* thread.
*/
ret = sched_getparam(0, &param);
if (ret == OK)
if (ret == ERROR)
{
priority = param.sched_priority;
}
else
{
priority = PTHREAD_DEFAULT_PRIORITY;
errcode = get_errno();
goto errout_with_join;
}
#if CONFIG_RR_INTERVAL > 0
priority = param.sched_priority;
/* Get the scheduler policy for this thread */
policy = sched_getscheduler(0);
if (policy == ERROR)
{
policy = SCHED_FIFO;
errcode = get_errno();
goto errout_with_join;
}
#ifdef CONFIG_SCHED_SPORADIC
/* Save the sporadic scheduling parameters */
ptcb->cmn.low_priority = param.sched_ss_low_priority;
ptcb->cmn.max_repl = param.sched_ss_max_repl;
(void)clock_time2ticks(&param.sched_ss_repl_period, &ticks);
ptcb->cmn.repl_period = ticks;
(void)clock_time2ticks(&param.sched_ss_init_budget, &ticks);
ptcb->cmn.budget = ticks;
#endif
}
else
@ -342,8 +356,19 @@ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
/* Use the priority and scheduler from the attributes */
priority = attr->priority;
#if CONFIG_RR_INTERVAL > 0
policy = attr->policy;
#ifdef CONFIG_SCHED_SPORADIC
/* Save the sporadic scheduling parameters */
ptcb->cmn.low_priority = attr->low_priority;
ptcb->cmn.max_repl = attr->max_repl;
(void)clock_time2ticks(&attr->repl_period, &ticks);
ptcb->cmn.repl_period = ticks;
(void)clock_time2ticks(&attr->budget, &ticks);
ptcb->cmn.budget = ticks;
#endif
}

2
sched/pthread/pthread_getschedparam.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* pthread_getschedparam.c
*
* Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2008, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without

5
sched/pthread/pthread_setschedparam.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* sched/pthread/pthread_setschedparam.c
*
* Copyright (C) 2007, 2008, 2012 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2008, 2012, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -118,7 +118,8 @@
*
****************************************************************************/
int pthread_setschedparam(pthread_t thread, int policy, FAR const struct sched_param *param)
int pthread_setschedparam(pthread_t thread, int policy,
FAR const struct sched_param *param)
{
int ret;

24
sched/pthread/pthread_setschedprio.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* sched/pthread/pthread_setschedprio.c
*
* Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2009, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -102,20 +102,30 @@ int pthread_setschedprio(pthread_t thread, int prio)
struct sched_param param;
int ret;
/* Set the errno to some non-zero value (failsafe) */
#ifdef CONFIG_SCHED_SPORADIC
/* Get the current sporadic scheduling parameters. Those will not be
* modified.
*/
set_errno(EINVAL);
ret = sched_getparam((pid_t)thread, &param);
if (ret < 0)
{
goto errout_with_errno;
}
#endif
/* Call sched_setparam() to change the priority */
param.sched_priority = prio;
ret = sched_setparam((pid_t)thread, &param);
if (ret != OK)
if (ret >= 0)
{
/* If sched_setparam() fails, return the errno */
ret = get_errno();
return OK;
}
#ifdef CONFIG_SCHED_SPORADIC
errout_with_errno:
#endif
ret = get_errno();
return ret;
}

15
sched/sched/sched_getparam.c
View file

@ -1,7 +1,7 @@
/************************************************************************
* sched/sched/sched_getparam.c
*
* Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2009, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -42,6 +42,7 @@
#include <sys/types.h>
#include <sched.h>
#include "clock/clock.h"
#include "sched/sched.h"
/************************************************************************
@ -96,7 +97,7 @@
*
************************************************************************/
int sched_getparam (pid_t pid, struct sched_param * param)
int sched_getparam (pid_t pid, FAR struct sched_param *param)
{
FAR struct tcb_s *rtcb;
FAR struct tcb_s *tcb;
@ -136,6 +137,16 @@ int sched_getparam (pid_t pid, struct sched_param * param)
/* Return the priority of the task */
param->sched_priority = (int)tcb->sched_priority;
#ifdef CONFIG_SCHED_SPORADIC
/* Return parameters associated with SCHED_SPORADIC */
param->sched_ss_low_priority = (int)tcb->low_priority;
param->sched_ss_max_repl = (int)tcb->max_repl;
clock_ticks2time((int)tcb->repl_period, &param->sched_ss_repl_period);
clock_ticks2time((int)tcb->budget, &param->sched_ss_init_budget);
#endif
}
sched_unlock();

34
sched/sched/sched_setparam.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* sched/sched/sched_setparam.c
*
* Copyright (C) 2007, 2009, 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2007, 2009, 2013, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -45,6 +45,7 @@
#include <nuttx/arch.h>
#include "clock/clock.h"
#include "sched/sched.h"
/****************************************************************************
@ -105,7 +106,7 @@
*
****************************************************************************/
int sched_setparam(pid_t pid, const struct sched_param *param)
int sched_setparam(pid_t pid, FAR const struct sched_param *param)
{
FAR struct tcb_s *rtcb;
FAR struct tcb_s *tcb;
@ -148,6 +149,35 @@ int sched_setparam(pid_t pid, const struct sched_param *param)
}
}
#ifdef CONFIG_SCHED_SPORADIC
/* Update parameters associated with SCHED_SPORADIC */
if ((rtcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
{
int ticks;
DEBUGASSERT(param->sched_ss_max_repl <= UINT8_MAX);
tcb->flags |= TCB_FLAG_SCHED_SPORADIC;
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
tcb->low_priority = param->sched_ss_low_priority;
tcb->max_repl = param->sched_ss_max_repl;
(void)clock_time2ticks(&param->sched_ss_repl_period, &ticks);
tcb->repl_period = ticks;
(void)clock_time2ticks(&param->sched_ss_init_budget, &ticks);
tcb->budget = ticks;
}
else
{
tcb->low_priority = 0;
tcb->max_repl = 0;
tcb->repl_period = 0;
tcb->budget = 0;
}
#endif
/* Then perform the reprioritization */
ret = sched_reprioritize(tcb, param->sched_priority);

46
sched/sched/sched_setscheduler.c
View file

@ -106,7 +106,7 @@
****************************************************************************/
int sched_setscheduler(pid_t pid, int policy,
const struct sched_param *param)
FAR const struct sched_param *param)
{
FAR struct tcb_s *tcb;
#if CONFIG_RR_INTERVAL > 0
@ -157,22 +157,53 @@ int sched_setscheduler(pid_t pid, int policy,
default:
DEBUGPANIC();
case SCHED_FIFO:
tcb->flags |= TCB_FLAG_SCHED_FIFO;
#if CONFIG_RR_INTERVAL > 0
tcb->timeslice = 0;
{
tcb->flags |= TCB_FLAG_SCHED_FIFO;
#if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
tcb->timeslice = 0;
#endif
#ifdef CONFIG_SCHED_SPORADIC
tcb->low_priority = 0;
tcb->max_repl = 0;
tcb->repl_period = 0;
tcb->budget = 0;
#endif
}
break;
#if CONFIG_RR_INTERVAL > 0
case SCHED_RR:
tcb->flags |= TCB_FLAG_SCHED_RR;
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
{
tcb->flags |= TCB_FLAG_SCHED_RR;
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
#ifdef CONFIG_SCHED_SPORADIC
tcb->low_priority = 0;
tcb->max_repl = 0;
tcb->repl_period = 0;
tcb->budget = 0;
#endif
}
break;
#endif
#ifdef CONFIG_SCHED_SPORADIC
case SCHED_SPORADIC:
tcb->flags |= TCB_FLAG_SCHED_SPORADIC;
{
int ticks;
DEBUGASSERT(param->sched_ss_max_repl <= UINT8_MAX);
tcb->flags |= TCB_FLAG_SCHED_SPORADIC;
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
tcb->low_priority = param->sched_ss_low_priority;
tcb->max_repl = param->sched_ss_max_repl;
(void)clock_time2ticks(&param->sched_ss_repl_period, &ticks);
tcb->repl_period = ticks;
(void)clock_time2ticks(&param->sched_ss_init_budget, &ticks);
tcb->budget = ticks;
}
break;
#endif
@ -199,4 +230,3 @@ int sched_setscheduler(pid_t pid, int policy,
return OK;
}
}

33
sched/task/task_spawnparms.c
View file

@ -1,7 +1,7 @@
/****************************************************************************
* sched/task/task_spawnparms.c
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -111,7 +111,7 @@ static inline int spawn_dup2(FAR struct spawn_dup2_file_action_s *action)
int errcode = get_errno();
sdbg("ERROR: dup2 failed: %d\n", errcode);
return errcode;
return -errcode;
}
return OK;
@ -202,7 +202,7 @@ void spawn_semtake(FAR sem_t *sem)
*
* Returned Value:
* Errors are not reported by this function. This is because errors
* cannot occur, but ratther that the new task has already been started
* cannot occur, but rather that the new task has already been started
* so there is no graceful way to handle errors detected in this context
* (unless we delete the new task and recover).
*
@ -229,7 +229,22 @@ int spawn_execattrs(pid_t pid, FAR const posix_spawnattr_t *attr)
if ((attr->flags & POSIX_SPAWN_SETSCHEDPARAM) != 0)
{
/* Get the priority from the attrributes */
#ifdef CONFIG_SCHED_SPORADIC
int ret;
/* Get the current sporadic scheduling parameters. Those will not be
* modified.
*/
ret = sched_getparam(pid, &param);
if (ret < 0)
{
int errcode = get_errno();
return -errcode;
}
#endif
/* Get the priority from the attributes */
param.sched_priority = attr->priority;
@ -265,6 +280,16 @@ int spawn_execattrs(pid_t pid, FAR const posix_spawnattr_t *attr)
svdbg("Setting policy=%d priority=%d for pid=%d\n",
attr->policy, param.sched_priority, pid);
#ifdef CONFIG_SCHED_SPORADIC
/* But take the sporadic scheduler parameters from the attributes */
param.sched_ss_low_priority = (int)attr->low_priority;
param.sched_ss_max_repl = (int)attr->max_repl;
param.sched_ss_repl_period.tv_sec = attr->repl_period.tv_sec;
param.sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
param.sched_ss_init_budget.tv_sec = attr->budget.tv_sec;
param.sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
(void)sched_setscheduler(pid, attr->policy, &param);
}