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.

2026-06-07 09:18:00 +08:00 · 2015-07-23 13:16:32 -06:00
parent 13e837b957
commit 9095e8eab4
22 changed files with 352 additions and 144 deletions
@@ -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
@@ -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

@@ -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;

@@ -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
 };

 /********************************************************************************
@@ -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;
@@ -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)