px4-firmware/apps/examples/ostest/roundrobin.c

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/********************************************************************************
* examples/ostest/roundrobin.c
*
* Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
********************************************************************************/
/********************************************************************************
* Included Files
********************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include "ostest.h"
#if CONFIG_RR_INTERVAL > 0
/********************************************************************************
* Definitions
********************************************************************************/
/* This number may need to be tuned for different processor speeds. Since these
* arrays must be large to very correct SCHED_RR behavior, this test may require
* too much memory on many targets.
*/
/* #define CONFIG_NINTEGERS 32768 Takes forever on 60Mhz ARM7 */
#define CONFIG_NINTEGERS 2048
/********************************************************************************
* Private Data
********************************************************************************/
static int prime1[CONFIG_NINTEGERS];
static int prime2[CONFIG_NINTEGERS];
/********************************************************************************
* Private Functions
********************************************************************************/
/********************************************************************************
* Name: dosieve
*
* Description
* This implements a "sieve of aristophanes" algorithm for finding prime number.
* Credit for this belongs to someone, but I am not sure who anymore. Anyway,
* the only purpose here is that we need some algorithm that takes a long period
* of time to execute.
*
********************************************************************************/
static void dosieve(int *prime)
{
int a,d;
int i;
int j;
a = 2;
d = a;
for (i = 0; i < CONFIG_NINTEGERS; i++)
{
prime[i] = i+2;
}
for (i = 1; i < 10; i++)
{
for (j = 0; j < CONFIG_NINTEGERS; j++)
{
d = a + d;
if (d < CONFIG_NINTEGERS)
{
prime[d]=0;
}
}
a++;
d = a;
i++;
}
#if 0 /* We don't really care what the numbers are */
for (i = 0, j= 0; i < CONFIG_NINTEGERS; i++)
{
if (prime[i] != 0)
{
printf(" Prime %d: %d\n", j, prime[i]);
j++;
}
}
#endif
}
/********************************************************************************
* Name: sieve1
********************************************************************************/
static void *sieve1(void *parameter)
{
int i;
printf("sieve1 started\n");
for (i = 0; i < 1000; i++)
{
dosieve(prime1);
}
printf("sieve1 finished\n");
pthread_exit(NULL);
return NULL; /* To keep some compilers happy */
}
/********************************************************************************
* Name: sieve2
********************************************************************************/
static void *sieve2(void *parameter)
{
int i;
printf("sieve2 started\n");
for (i = 0; i < 1000; i++)
{
dosieve(prime2);
}
printf("sieve2 finished\n");
pthread_exit(NULL);
return NULL; /* To keep some compilers happy */
}
/********************************************************************************
* Public Functions
********************************************************************************/
/********************************************************************************
* Name: rr_test
********************************************************************************/
void rr_test(void)
{
pthread_t sieve1_thread;
pthread_t sieve2_thread;
struct sched_param sparam;
pthread_attr_t attr;
pthread_addr_t result;
int status;
printf("rr_test: Starting sieve1 thread \n");
status = pthread_attr_init(&attr);
if (status != OK)
{
printf("rr_test: pthread_attr_init failed, status=%d\n", status);
}
sparam.sched_priority = sched_get_priority_min(SCHED_FIFO);
status = pthread_attr_setschedparam(&attr, &sparam);
if (status != OK)
{
printf("rr_test: pthread_attr_setschedparam failed, status=%d\n", status);
}
else
{
printf("rr_test: Set thread priority to %d\n", sparam.sched_priority);
}
status = pthread_attr_setschedpolicy(&attr, SCHED_RR);
if (status != OK)
{
printf("rr_test: pthread_attr_setschedpolicy failed, status=%d\n", status);
}
else
{
printf("rr_test: Set thread policty to SCHED_RR\n");
}
status = pthread_create(&sieve1_thread, &attr, sieve1, NULL);
if (status != 0)
{
printf("rr_test: Error in thread 1 creation, status=%d\n", status);
}
printf("rr_test: Starting sieve1 thread \n");
status = pthread_create(&sieve2_thread, &attr, sieve2, NULL);
if (status != 0)
{
printf("rr_test: Error in thread 2 creation, status=%d\n", status);
}
printf("rr_test: Waiting for sieves to complete -- this should take awhile\n");
printf("rr_test: If RR scheduling is working, they should start and complete at\n");
printf("rr_test: about the same time\n");
pthread_join(sieve2_thread, &result);
pthread_join(sieve1_thread, &result);
printf("rr_test: Done\n");
}
#endif /* CONFIG_RR_INTERVAL */