/
TestingKernel.c
196 lines (172 loc) · 5.21 KB
/
TestingKernel.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
#include <uC++.h>
#include <uSemaphore.h>
#include <stdio.h>
#include <string.h>
#include <algorithm>
using namespace std;
#include <ContextSwitch.h>
#include <IO.h>
#include <ClockServer.h>
#include <TrainTask.h>
#include <TestingKernel.h>
uSemaphore task_lock(1);
int NEXT_TASK_INDEX;
void test() {
Putline(TERM_PORT, "WTF!!!!", 8);
Create(2, "This is me", &test);
Putline(TERM_PORT, "WTF!!!!", 8);
Create(2, "This is me", &test);
Putline(TERM_PORT, "WTF!!!!", 8);
Create(2, "This is me", &test);
if (NEXT_TASK_INDEX>1)Putline(TERM_PORT, "Created a few tasks...", 8);
while(1)Pass();
}
RealTimeTask *ACTIVE_TASK;
RealTimeTask *TASKS[TASK_POOL_SIZE];
void uMain::main() {
for (int i=0; i<TASK_POOL_SIZE; i++) {
TASKS[i] = NULL;
}
NEXT_TASK_INDEX = 1;
task_lock.P();
ACTIVE_TASK = TASKS[0] = new RealTimeTask(0, "TrainTask", 4, 0, &train_task);
for (int i=0; i<TASK_POOL_SIZE; i++) {
if (TASKS[i] != NULL)delete TASKS[i];
}
//printf("All Tasks finished!!!\n");
}
int Create(int priority, char *task_name, void (*code)()) {
RealTimeTask *task = ACTIVE_TASK;
int tid = NEXT_TASK_INDEX++;
//printf("Create task[%s]with id %d!!!\n", task_name, tid);
ACTIVE_TASK = TASKS[tid] = new RealTimeTask(tid, task_name, priority, task->id, code);
task_lock.P();
ACTIVE_TASK = task;
return tid;
}
int MyTid() {
RealTimeTask *task = ACTIVE_TASK;
int tid = task->id;
task_lock.V();
task_lock.P();
ACTIVE_TASK = task;
return tid;
}
int MyParentTid() {
RealTimeTask *task = ACTIVE_TASK;
int tid = task->parent;
task_lock.V();
task_lock.P();
ACTIVE_TASK = task;
return tid;
}
void Pass() {
RealTimeTask *task = ACTIVE_TASK;
task_lock.V();
task_lock.P();
ACTIVE_TASK = task;
}
void Exit() {
RealTimeTask *task = ACTIVE_TASK;
task_lock.V();
task->service_lock.P();
task_lock.P();
ACTIVE_TASK = task;
}
int Send( int tid, char *msg, int msglen, char *reply, int replylen ) {
RealTimeTask *task = ACTIVE_TASK;
task->state = RECEIVE_BLOCKED;
task->msg = msg;
task->msglen = msglen;
task->reply = reply;
task->replylen = replylen;
RealTimeTask *sender = task;
RealTimeTask *receiver = TASKS[tid];
//printf("Sending from Task %d to Task %d...\n", sender->id, receiver->id);
if (receiver->state == SEND_BLOCKED) {
// copy msg to receiver
receiver->msglen = min(receiver->msglen, sender->msglen);
//sender->msglen = receiver->msglen;
strncpy(receiver->msg, sender->msg, receiver->msglen);
sender->state = REPLY_BLOCKED;
*(receiver->tid) = sender->id;
receiver->state = READY;
//sender->service_lock.V();
receiver->service_lock.V();
} else {
if (receiver->receive_queue == NULL) {
receiver->receive_queue = sender;
} else {
RealTimeTask *receive_queue_tail = receiver->receive_queue;
while (receive_queue_tail->next_task != NULL) {
receive_queue_tail = receive_queue_tail->next_task;
}
receive_queue_tail->next_task = sender;
sender->next_task = NULL;
}
}
task_lock.V();
task->service_lock.P();
task_lock.P();
ACTIVE_TASK = task;
return sender->replylen;
}
int Receive( int *tid, char *msg, int msglen ) {
RealTimeTask *task = ACTIVE_TASK;
task->state = SEND_BLOCKED;
task->tid = tid;
task->msg = msg;
task->msglen = msglen;
RealTimeTask *receiver = task;
if (receiver->receive_queue != NULL) {
RealTimeTask *sender = receiver->receive_queue;
receiver->receive_queue = receiver->receive_queue->next_task;
receiver->next_task = NULL;
// copy msg from sender
receiver->msglen = min(receiver->msglen, sender->msglen);
//sender->msglen = receiver->msglen;
strncpy(receiver->msg, sender->msg, receiver->msglen);
sender->state = REPLY_BLOCKED;
*(receiver->tid) = sender->id;
receiver->state = READY;
//sender->service_lock.V();
receiver->service_lock.V();
}
task_lock.V();
task->service_lock.P();
task_lock.P();
//printf("Receiving from Task %d by Task %d...\n", *tid, task->id);
ACTIVE_TASK = receiver;
return receiver->msglen;
}
int Reply( int tid, char *reply, int replylen ) {
RealTimeTask *task = ACTIVE_TASK;
RealTimeTask *sender = TASKS[tid];
//printf("Reply from Task %d to Task %d...\n", task->id, sender->id);
// copy msg to TASKS[tid]
sender->replylen = min(sender->replylen, replylen);
replylen = sender->replylen;
strncpy(sender->reply, reply, sender->replylen);
// release lock on the other side
sender->state = READY;
sender->service_lock.V();
task_lock.V();
task_lock.P();
ACTIVE_TASK = task;
return replylen;
}
//int AwaitEvent( int event );
// CLK SERVER
int Delay( int ticks ){
RealTimeTask *task = ACTIVE_TASK;
task_lock.V();
timespec delta;
delta.tv_sec = 0;
delta.tv_nsec = 10000000;
nanosleep(&delta, NULL);
task_lock.P();
ACTIVE_TASK = task;
}
int Time(){
return 0;
}