fosi_internal.cpp

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/***************************************************************************
  tag: Peter Soetens  Sat May 21 20:15:51 CEST 2005  fosi_internal.hpp

                        fosi_internal.hpp -  description
                           -------------------
    begin                : Sat May 21 2005
    copyright            : (C) 2005 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

    ***************************************************************************
    *   This library 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;                 *
    *   version 2 of the License.                                             *
    *                                                                         *
    *   As a special exception, you may use this file as part of a free       *
    *   software library without restriction.  Specifically, if other files   *
    *   instantiate templates or use macros or inline functions from this     *
    *   file, or you compile this file and link it with other files to        *
    *   produce an executable, this file does not by itself cause the         *
    *   resulting executable to be covered by the GNU General Public          *
    *   License.  This exception does not however invalidate any other        *
    *   reasons why the executable file might be covered by the GNU General   *
    *   Public License.                                                       *
    *                                                                         *
    *   This library 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     *
    *   Lesser General Public License for more details.                       *
    *                                                                         *
    *   You should have received a copy of the GNU General Public             *
    *   License along with this library; if not, write to the Free Software   *
    *   Foundation, Inc., 59 Temple Place,                                    *
    *   Suite 330, Boston, MA  02111-1307  USA                                *
    *                                                                         *
    ***************************************************************************/

#include "../ThreadInterface.hpp"
#include "fosi.h"
#include "../fosi_internal_interface.hpp"
#include "../../Logger.hpp"
#include <cassert>
#include <sys/time.h>
#include <sys/resource.h>
#ifdef ORO_OS_LINUX_CAP_NG
#include <cap-ng.h>
#endif
#include <iostream>
#include <cstdlib>
#include <sys/types.h>
#include <unistd.h>
#include <sys/syscall.h>

using namespace std;

#define INTERNAL_QUAL

namespace RTT
{ namespace os {

    INTERNAL_QUAL int rtos_task_create_main(RTOS_TASK* main_task)
    {
        const char* name = "main";
        main_task->wait_policy = ORO_WAIT_ABS;
        main_task->name = strcpy( (char*)malloc( (strlen(name) + 1) * sizeof(char)), name);
        main_task->thread = pthread_self();
        pthread_attr_init( &(main_task->attr) );
        struct sched_param sp;
        sp.sched_priority=0;
        // Set priority
        // fixme check return value and bail out if necessary
        pthread_attr_setschedparam(&(main_task->attr), &sp);
        main_task->priority = sp.sched_priority;
        main_task->pid = getpid();
        return 0;
    }

    INTERNAL_QUAL int rtos_task_delete_main(RTOS_TASK* main_task)
    {
        pthread_attr_destroy( &(main_task->attr) );
        free(main_task->name);
        main_task->name = NULL;
        return 0;
    }

    struct PosixCookie {
        void* data;
        void* (*wrapper)(void*);
    };

    INTERNAL_QUAL void* rtos_posix_thread_wrapper( void* cookie )
    {
        // store 'self'
        RTOS_TASK* task = ((ThreadInterface*)((PosixCookie*)cookie)->data)->getTask();
        task->pid = syscall(SYS_gettid);
        assert( task->pid );

        // call user function
        ((PosixCookie*)cookie)->wrapper( ((PosixCookie*)cookie)->data );
        free(cookie);
        return 0;
    }



    INTERNAL_QUAL int rtos_task_create(RTOS_TASK* task,
                       int priority,
                       unsigned cpu_affinity,
                       const char * name,
                       int sched_type,
                       size_t stack_size,
                       void * (*start_routine)(void *),
                       ThreadInterface* obj)
    {
        int rv; // return value
        task->wait_policy = ORO_WAIT_ABS;
        rtos_task_check_priority( &sched_type, &priority );
        // Save priority internally, since the pthread_attr* calls are broken !
        // we will pick it up later in rtos_task_set_scheduler().
        task->priority = priority;

        PosixCookie* xcookie = (PosixCookie*)malloc( sizeof(PosixCookie) );
        xcookie->data = obj;
        xcookie->wrapper = start_routine;

        // Set name
        if ( strlen(name) == 0 )
            name = "Thread";
        task->name = strcpy( (char*)malloc( (strlen(name) + 1) * sizeof(char)), name);

        if ( (rv = pthread_attr_init(&(task->attr))) != 0 ){
            return rv;
        }
        // Set scheduler type (_before_ assigning priorities!)
        if ( (rv = pthread_attr_setschedpolicy(&(task->attr), sched_type)) != 0){
            return rv;
        }
        // Set stack size
        if (stack_size )
            if ( (rv = pthread_attr_setstacksize(&(task->attr), stack_size)) != 0){
                return rv;
            }
        pthread_attr_getschedpolicy(&(task->attr), &rv );
        assert( rv == sched_type );
        /* SCHED_OTHER tasks are always assigned static priority 0, see
           man sched_setscheduler
        */
        struct sched_param sp;
        if (sched_type != SCHED_OTHER){
            sp.sched_priority=priority;
            // Set priority
            if ( (rv = pthread_attr_setschedparam(&(task->attr), &sp)) != 0 ){
                return rv;
            }
        }
        rv = pthread_create(&(task->thread), &(task->attr),
                rtos_posix_thread_wrapper, xcookie);
        if (rv != 0) {
            log(Error) << "Failed to create thread " << task->name << ": "
                       << strerror(rv) << endlog();
            return rv;
        }

#ifdef ORO_HAVE_PTHREAD_SETNAME_NP
        // Set thread name to match task name, to help with debugging
        {
            // trim the name to fit 16 bytes restriction (including terminating
            // \0 character) of pthread_setname_np
            static const int MAX_THREAD_NAME_SIZE = 15;
            char n[MAX_THREAD_NAME_SIZE + 1];
            const char *thread_name = task->name;
            const std::size_t thread_name_len = strlen(thread_name);
            if (thread_name_len > MAX_THREAD_NAME_SIZE) {
                // result = first 7 chars + "~" + last 7 chars
                strncpy(&n[0], thread_name, 7);
                n[7] = '~';
                strncpy(&n[8], &thread_name[thread_name_len - 7], 7);
                // terminate below
            }
            else
            {
                // result = thread_name
                strncpy(&n[0], thread_name, MAX_THREAD_NAME_SIZE);
            }
            n[MAX_THREAD_NAME_SIZE] = '\0'; // explicitly terminate
            int result = pthread_setname_np(task->thread, &n[0]);
            if (result != 0) {
                log(Warning) << "Failed to set thread name for " << task->name << ": "
                             << strerror(result) << endlog();
            }
        }
#endif // ORO_HAVE_PTHREAD_SETNAME_NP

        if ( cpu_affinity != 0 ) {
            log(Debug) << "Setting CPU affinity to " << cpu_affinity << endlog();
            int result = rtos_task_set_cpu_affinity(task, cpu_affinity);
            if (result != 0) {
                log(Error) << "Failed to set CPU affinity to " << cpu_affinity << " for " << task->name << ": "
                           << strerror(result) << endlog();
            }
        }

        return rv;
    }

    INTERNAL_QUAL void rtos_task_yield(RTOS_TASK* t) {
#if 0
        //under plain gnulinux, sched_yield may have little influence, so sleep
        // to force rescheduling of other threads.
        NANO_TIME timeRemaining = 1000; // 1ms
        TIME_SPEC ts( ticks2timespec( timeRemaining ) );
        rtos_nanosleep( &ts , NULL );
#else
        int ret = sched_yield();
        if ( ret != 0)
            perror("rtos_task_yield");
#endif
    }

    INTERNAL_QUAL unsigned int rtos_task_get_pid(const RTOS_TASK* task)
    {
        if (task)
            return task->pid;
        return 0;
    }

    INTERNAL_QUAL int rtos_task_is_self(const RTOS_TASK* task) {
        pthread_t self = pthread_self();
        if ( pthread_equal(self, task->thread) == 0 ) // zero means false.
            return 0;
        return 1;
    }

    INTERNAL_QUAL int rtos_task_set_scheduler(RTOS_TASK* task, int sched_type) {
        int policy = -1;
        struct sched_param param;
        // first check the argument
        if ( task && task->thread != 0 && rtos_task_check_scheduler( &sched_type) == -1 )
            return -1;
        // if sched_type is different, the priority must change as well.
        if (pthread_getschedparam(task->thread, &policy, &param) == 0) {
            // now update the priority
            param.sched_priority = task->priority;
            rtos_task_check_priority( &sched_type, &param.sched_priority );
            // write new policy:
            return pthread_setschedparam( task->thread, sched_type, &param);
        }
        return -1;
    }

    INTERNAL_QUAL int rtos_task_get_scheduler(const RTOS_TASK* task) {
        int policy = -1;
        struct sched_param param;
        // first retrieve thread scheduling parameters:
        if ( task && task->thread != 0 && pthread_getschedparam(task->thread, &policy, &param) == 0)
            return policy;
        return -1;
    }

    INTERNAL_QUAL void rtos_task_make_periodic(RTOS_TASK* mytask, NANO_TIME nanosecs )
    {
        // set period
        mytask->period = nanosecs;
        // set next wake-up time.
        mytask->periodMark = ticks2timespec( nano2ticks( rtos_get_time_ns() + nanosecs ) );
    }

    INTERNAL_QUAL void rtos_task_set_period( RTOS_TASK* mytask, NANO_TIME nanosecs )
    {
        rtos_task_make_periodic(mytask, nanosecs);
    }

  INTERNAL_QUAL void rtos_task_set_wait_period_policy( RTOS_TASK* task, int policy )
  {
    task->wait_policy = policy;
  }

    INTERNAL_QUAL int rtos_task_wait_period( RTOS_TASK* task )
    {
        if ( task->period == 0 )
            return 0;

        // record this to detect overrun.
        NANO_TIME now = rtos_get_time_ns();
        NANO_TIME wake= task->periodMark.tv_sec * 1000000000LL + task->periodMark.tv_nsec;

        // inspired by nanosleep man page for this construct:
        while ( clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &(task->periodMark), NULL) != 0 && errno == EINTR ) {
            errno = 0;
        }

        if (task->wait_policy == ORO_WAIT_ABS)
        {
          // program next period:
          // 1. convert period to timespec
          TIME_SPEC ts = ticks2timespec( nano2ticks( task->period) );
          // 2. Add ts to periodMark (danger: tn guards for overflows!)
          NANO_TIME tn = (task->periodMark.tv_nsec + ts.tv_nsec);
          task->periodMark.tv_nsec = tn % 1000000000LL;
          task->periodMark.tv_sec += ts.tv_sec + tn / 1000000000LL;
        }
        else
        {
          TIME_SPEC ts = ticks2timespec( nano2ticks( task->period) );
          TIME_SPEC now = ticks2timespec( rtos_get_time_ns() );
          NANO_TIME tn = (now.tv_nsec + ts.tv_nsec);
          task->periodMark.tv_nsec = tn % 1000000000LL;
          task->periodMark.tv_sec = ts.tv_sec + now.tv_sec + tn / 1000000000LL;
        }

        return now > wake ? -1 : 0;
    }

    INTERNAL_QUAL void rtos_task_delete(RTOS_TASK* mytask) {
        pthread_join( mytask->thread, 0);
        pthread_attr_destroy( &(mytask->attr) );
        free(mytask->name);
        mytask->name = NULL;
    }

    INTERNAL_QUAL int rtos_task_check_scheduler(int* scheduler)
    {
#ifdef ORO_OS_LINUX_CAP_NG
        if(capng_get_caps_process()) {
            log(Error) << "Failed to retrieve capabilities (lowering to SCHED_OTHER)." <<endlog();
            *scheduler = SCHED_OTHER;
            return -1;
        }
#endif

        if (*scheduler != SCHED_OTHER && geteuid() != 0
#ifdef ORO_OS_LINUX_CAP_NG
            && capng_have_capability(CAPNG_EFFECTIVE, CAP_SYS_NICE)==0
#endif
            ) {
            // they're not root and they want a real-time priority, which _might_
            // be acceptable if they're using pam_limits and have set the rtprio ulimit
            // (see "/etc/security/limits.conf" and "ulimit -a")
            struct rlimit r;
            if ((0 != getrlimit(RLIMIT_RTPRIO, &r)) || (0 == r.rlim_cur))
            {
                log(Warning) << "Lowering scheduler type to SCHED_OTHER for non-privileged users.." <<endlog();
                *scheduler = SCHED_OTHER;
                return -1;
            }
        }

        if (*scheduler != SCHED_OTHER && *scheduler != SCHED_FIFO && *scheduler != SCHED_RR ) {
            log(Error) << "Unknown scheduler type." <<endlog();
            *scheduler = SCHED_OTHER;
            return -1;
        }
        return 0;
    }

    INTERNAL_QUAL int rtos_task_check_priority(int* scheduler, int* priority)
    {
        int ret = 0;
        // check scheduler first.
        ret = rtos_task_check_scheduler(scheduler);

        // correct priority
        if (*scheduler == SCHED_OTHER) {
            if ( *priority != 0 ) {
                if (*priority != LowestPriority)
                    log(Warning) << "Forcing priority ("<<*priority<<") of thread with SCHED_OTHER policy to 0." <<endlog();
                *priority = 0;
                ret = -1;
            }
        } else {
            // SCHED_FIFO/SCHED_RR:
            if (*priority <= 0){
                log(Warning) << "Forcing priority ("<<*priority<<") of thread with !SCHED_OTHER policy to 1." <<endlog();
                *priority = 1;
                ret = -1;
            }
            if (*priority > 99){
                log(Warning) << "Forcing priority ("<<*priority<<") of thread with !SCHED_OTHER policy to 99." <<endlog();
                *priority = 99;
                ret = -1;
            }
            // and limit them according to pam_Limits (only if not root)
            if ( geteuid() != 0 
#ifdef ORO_OS_LINUX_CAP_NG
                 && !capng_have_capability(CAPNG_EFFECTIVE, CAP_SYS_NICE)
#endif
                 )
            {
                struct rlimit   r;
                if (0 == getrlimit(RLIMIT_RTPRIO, &r))
                {
                    if (*priority > (int)r.rlim_cur)
                    {
                        log(Warning) << "Forcing priority ("<<*priority<<") of thread with !SCHED_OTHER policy to the pam_limit of " << r.rlim_cur <<endlog();
                        *priority = r.rlim_cur;
                        ret = -1;
                    }
                }
                else
                {
                    // this should not be possible, but do something intelligent
                    *priority = 1;
                    ret = -1;
                }
            }
        }
        return ret;
    }

    INTERNAL_QUAL int rtos_task_set_priority(RTOS_TASK * task, int priority)
    {
        int policy = 0;
        struct sched_param param;
        // first retrieve thread scheduling parameters:
        if( task && task->thread != 0 && pthread_getschedparam(task->thread, &policy, &param) == 0) {
            if ( rtos_task_check_priority( &policy, &priority ) != 0 )
                return -1;
            param.sched_priority = priority;
            task->priority = priority; // store for set_scheduler
            // write new policy:
            return pthread_setschedparam( task->thread, policy, &param);
        }
        return -1;
    }

    INTERNAL_QUAL int rtos_task_get_priority(const RTOS_TASK *task)
    {
        // if sched_other, return the 'virtual' priority
        int policy = 0;
        struct sched_param param;
        // first retrieve thread scheduling parameters:
        if ( task == 0 )
            return -1;
        if ( task->thread == 0 || pthread_getschedparam(task->thread, &policy, &param) != 0)
            return task->priority;
        return param.sched_priority;
    }

    INTERNAL_QUAL int rtos_task_set_cpu_affinity(RTOS_TASK * task, unsigned cpu_affinity)
    {
        if ( cpu_affinity == 0 ) // clears the mask.
            cpu_affinity = ~0;
        if( task && task->thread != 0 ) {
            cpu_set_t cs;
            CPU_ZERO(&cs);
            for(unsigned i = 0; i < 8*sizeof(cpu_affinity); i++)
                {
                    if(cpu_affinity & (1 << i)) { CPU_SET(i, &cs); }
                }
            return pthread_setaffinity_np(task->thread, sizeof(cs), &cs);
        }
        return -1;
    }

    INTERNAL_QUAL unsigned rtos_task_get_cpu_affinity(const RTOS_TASK *task)
    {
        if( task && task->thread != 0) {
        unsigned cpu_affinity = 0;
        cpu_set_t cs;
        pthread_getaffinity_np(task->thread, sizeof(cs), &cs);
        for(unsigned i = 0; i < 8*sizeof(cpu_affinity); i++)
        {
          if(CPU_ISSET(i, &cs)) { cpu_affinity |= (1 << i); }
        }
        return cpu_affinity;
     }
        return ~0;
        }

    INTERNAL_QUAL const char * rtos_task_get_name(const RTOS_TASK* task)
    {
        return task->name ? task->name : "(destroyed)";
    }

    }
}
#undef INTERNAL_QUAL