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-rw-r--r--gruel/src/include/gruel/Makefile.am1
-rw-r--r--gruel/src/include/gruel/realtime.h60
-rw-r--r--gruel/src/include/gruel/sys_pri.h41
-rw-r--r--gruel/src/lib/Makefile.am2
-rw-r--r--gruel/src/lib/realtime.cc93
-rw-r--r--gruel/src/lib/sys_pri.cc61
6 files changed, 211 insertions, 47 deletions
diff --git a/gruel/src/include/gruel/Makefile.am b/gruel/src/include/gruel/Makefile.am
index 50fad2531..648d53e20 100644
--- a/gruel/src/include/gruel/Makefile.am
+++ b/gruel/src/include/gruel/Makefile.am
@@ -29,5 +29,6 @@ gruelincludedir = $(prefix)/include/gruel
gruelinclude_HEADERS = \
$(BUILT_SOURCES) \
realtime.h \
+ sys_pri.h \
thread_body_wrapper.h \
thread_group.h
diff --git a/gruel/src/include/gruel/realtime.h b/gruel/src/include/gruel/realtime.h
index ded70ed0d..8beec26d6 100644
--- a/gruel/src/include/gruel/realtime.h
+++ b/gruel/src/include/gruel/realtime.h
@@ -1,6 +1,6 @@
/* -*- c++ -*- */
/*
- * Copyright 2006 Free Software Foundation, Inc.
+ * Copyright 2006,2008 Free Software Foundation, Inc.
*
* This file is part of GNU Radio
*
@@ -20,8 +20,16 @@
* Boston, MA 02110-1301, USA.
*/
-#ifndef INCLUDED_REALTIME_H
-#define INCLUDED_REALTIME_H
+#ifndef INCLUDED_GRUEL_REALTIME_H
+#define INCLUDED_GRUEL_REALTIME_H
+
+#include <stdexcept>
+
+/*!
+ * \brief System independent way to ask for realtime scheduling
+ *
+ * \sa sys_pri.h
+ */
namespace gruel {
@@ -32,13 +40,53 @@ namespace gruel {
RT_OTHER_ERROR
} rt_status_t;
+
+ enum rt_sched_policy {
+ RT_SCHED_RR = 0, // round robin
+ RT_SCHED_FIFO = 1, // first in first out
+ };
+
+ /*
+ * Define the range for our virtual priorities (don't change these)
+ *
+ * Processes (or threads) with numerically higher priority values
+ * are scheduled before processes with numerically lower priority
+ * values. Thus, the value returned by rt_priority_max() will be
+ * greater than the value returned by rt_priority_min().
+ */
+ static inline int rt_priority_min() { return 0; }
+ static inline int rt_priority_max() { return 15; }
+ static inline int rt_priority_default() { return 1; }
+
+ struct rt_sched_param {
+ int priority;
+ rt_sched_policy policy;
+
+ rt_sched_param()
+ : priority(rt_priority_default()), policy(RT_SCHED_RR){}
+
+ rt_sched_param(int priority_, rt_sched_policy policy_ = RT_SCHED_RR)
+ {
+ if (priority_ < rt_priority_min() || priority_ > rt_priority_max())
+ throw std::invalid_argument("rt_sched_param: priority out of range");
+
+ priority = priority_;
+ policy = policy_;
+ }
+ };
+
/*!
- * \brief If possible, enable high-priority "real time" scheduling.
+ * \brief If possible, enable "realtime" scheduling.
* \ingroup misc
+ *
+ * In general, this means that the code will be scheduled before any
+ * non-realtime (normal) processes. Note that if your code contains
+ * an non-blocking infinite loop and you enable realtime scheduling,
+ * it's possible to hang the system.
*/
rt_status_t
- enable_realtime_scheduling();
+ enable_realtime_scheduling(rt_sched_param = rt_sched_param());
} // namespace gruel
-#endif /* INCLUDED_GR_REALTIME_H */
+#endif /* INCLUDED_GRUEL_REALTIME_H */
diff --git a/gruel/src/include/gruel/sys_pri.h b/gruel/src/include/gruel/sys_pri.h
new file mode 100644
index 000000000..b0fd83654
--- /dev/null
+++ b/gruel/src/include/gruel/sys_pri.h
@@ -0,0 +1,41 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2008 Free Software Foundation, Inc.
+ *
+ * This file is part of GNU Radio
+ *
+ * GNU Radio 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; either version 3, or (at your option)
+ * any later version.
+ *
+ * GNU Radio 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ */
+
+#ifndef INCLUDED_GRUEL_SYS_PRI_H
+#define INCLUDED_GRUEL_SYS_PRI_H
+
+#include <gruel/realtime.h>
+
+/*
+ * A single place to define real-time priorities used by the system itself
+ */
+namespace gruel {
+
+ struct sys_pri {
+ static rt_sched_param python(); // python code
+ static rt_sched_param normal(); // normal blocks
+ static rt_sched_param gcell_event_handler();
+ static rt_sched_param usrp2_backend(); // thread that services the ethernet
+ };
+
+}
+
+#endif /* INCLUDED_GRUEL_SYS_PRI_H */
diff --git a/gruel/src/lib/Makefile.am b/gruel/src/lib/Makefile.am
index 7181c9418..c2a008e48 100644
--- a/gruel/src/lib/Makefile.am
+++ b/gruel/src/lib/Makefile.am
@@ -31,11 +31,11 @@ libgruel_la_LDFLAGS = $(NO_UNDEFINED) $(BOOST_LDFLAGS) -version-info 0:0:0
# These are the source files that go into the gruel shared library
libgruel_la_SOURCES = \
realtime.cc \
+ sys_pri.cc \
thread_body_wrapper.cc \
thread_group.cc
libgruel_la_LIBADD = \
$(BOOST_THREAD_LIB)
- -lstdc++
noinst_HEADERS =
diff --git a/gruel/src/lib/realtime.cc b/gruel/src/lib/realtime.cc
index b84117fb2..1de8b6dc0 100644
--- a/gruel/src/lib/realtime.cc
+++ b/gruel/src/lib/realtime.cc
@@ -30,94 +30,107 @@
#include <sched.h>
#endif
+#include <algorithm>
+#include <math.h>
#include <string.h>
#include <errno.h>
#include <stdio.h>
-#if defined(HAVE_SCHED_SETSCHEDULER)
+#if defined(HAVE_PTHREAD_SETSCHEDPARAM) || defined(HAVE_SCHED_SETSCHEDULER)
+#include <pthread.h>
namespace gruel {
- rt_status_t
- enable_realtime_scheduling()
+ /*!
+ * Rescale our virtual priority so that it maps to the middle 1/2 of
+ * the priorities given by min_real_pri and max_real_pri.
+ */
+ static int
+ rescale_virtual_pri(int virtual_pri, int min_real_pri, int max_real_pri)
{
- int policy = SCHED_FIFO;
- int pri = (sched_get_priority_max (policy) + sched_get_priority_min (policy)) / 2;
- int pid = 0; // this process
+ float rmin = min_real_pri + (0.25 * (max_real_pri - min_real_pri));
+ float rmax = min_real_pri + (0.75 * (max_real_pri - min_real_pri));
+ float m = (rmax - rmin) / (rt_priority_max() - rt_priority_min());
+ float y = m * (virtual_pri - rt_priority_min()) + rmin;
+ int y_int = static_cast<int>(rint(y));
+ return std::max(min_real_pri, std::min(max_real_pri, y_int));
+ }
- if (0){
- fprintf(stderr, "sched_setscheduler version\n");
- fprintf(stderr, "pri_min(SCHED_FIFO) = %d\n", sched_get_priority_min(SCHED_FIFO));
- fprintf(stderr, "pri_max(SCHED_FIFO) = %d\n", sched_get_priority_max(SCHED_FIFO));
- fprintf(stderr, "pri = %d\n", pri);
- }
+} // namespace gruel
+
+#endif
+
+
+#if defined(HAVE_PTHREAD_SETSCHEDPARAM)
+
+namespace gruel {
+ rt_status_t
+ enable_realtime_scheduling(rt_sched_param p)
+ {
+ int policy = p.policy == RT_SCHED_FIFO ? SCHED_FIFO : SCHED_RR;
+ int min_real_pri = sched_get_priority_min(policy);
+ int max_real_pri = sched_get_priority_min(policy);
+ int pri = rescale_virtual_pri(p.priority, min_real_pri, max_real_pri);
+
+ pthread_t this_thread = pthread_self (); // this process
struct sched_param param;
- memset(&param, 0, sizeof(param));
+ memset (&param, 0, sizeof (param));
param.sched_priority = pri;
- int result = sched_setscheduler(pid, policy, &param);
- if (result != 0){
+ int result = pthread_setschedparam (this_thread, policy, &param);
+ if (result != 0) {
if (errno == EPERM)
return RT_NO_PRIVS;
else {
- perror ("sched_setscheduler: failed to set real time priority");
+ perror ("pthread_setschedparam: failed to set real time priority");
return RT_OTHER_ERROR;
}
}
-
+
//printf("SCHED_FIFO enabled with priority = %d\n", pri);
return RT_OK;
}
-
} // namespace gruel
-#elif defined(HAVE_PTHREAD_SETSCHEDPARAM)
-#include <pthread.h>
-#include <stdio.h>
+#elif defined(HAVE_SCHED_SETSCHEDULER)
namespace gruel {
rt_status_t
- enable_realtime_scheduling()
+ enable_realtime_scheduling(rt_sched_param p)
{
- int policy = SCHED_FIFO;
- int pri = (sched_get_priority_max (policy) + sched_get_priority_min (policy)) / 2;
-
- if (0){
- fprintf(stderr, "pthread_setschedparam version\n");
- fprintf(stderr, "pri_min(SCHED_FIFO) = %d\n", sched_get_priority_min(SCHED_FIFO));
- fprintf(stderr, "pri_max(SCHED_FIFO) = %d\n", sched_get_priority_max(SCHED_FIFO));
- fprintf(stderr, "pri = %d\n", pri);
- }
+ int policy = p.policy == RT_SCHED_FIFO ? SCHED_FIFO : SCHED_RR;
+ int min_real_pri = sched_get_priority_min(policy);
+ int max_real_pri = sched_get_priority_min(policy);
+ int pri = rescale_virtual_pri(p.priority, min_real_pri, max_real_pri);
- pthread_t this_thread = pthread_self (); // this process
+ int pid = 0; // this process
struct sched_param param;
- memset (&param, 0, sizeof (param));
+ memset(&param, 0, sizeof(param));
param.sched_priority = pri;
- int result = pthread_setschedparam (this_thread, policy, &param);
- if (result != 0) {
+ int result = sched_setscheduler(pid, policy, &param);
+ if (result != 0){
if (errno == EPERM)
return RT_NO_PRIVS;
else {
- perror ("pthread_setschedparam: failed to set real time priority");
+ perror ("sched_setscheduler: failed to set real time priority");
return RT_OTHER_ERROR;
}
}
-
+
//printf("SCHED_FIFO enabled with priority = %d\n", pri);
return RT_OK;
}
-} // namespace gruel
-// #elif // could try negative niceness
+} // namespace gruel
#else
namespace gruel {
rt_status_t
- enable_realtime_scheduling()
+ enable_realtime_scheduling(rt_sched_param p)
{
return RT_NOT_IMPLEMENTED;
}
diff --git a/gruel/src/lib/sys_pri.cc b/gruel/src/lib/sys_pri.cc
new file mode 100644
index 000000000..dc0164d70
--- /dev/null
+++ b/gruel/src/lib/sys_pri.cc
@@ -0,0 +1,61 @@
+/* -*- c++ -*- */
+/*
+ * Copyright 2008 Free Software Foundation, Inc.
+ *
+ * This file is part of GNU Radio
+ *
+ * GNU Radio 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; either version 3, or (at your option)
+ * any later version.
+ *
+ * GNU Radio 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+#include <gruel/sys_pri.h>
+
+namespace gruel {
+
+ /*
+ * These may need per-OS tweaking.
+ *
+ * Under linux virtual_pri -> system_pri
+ * 0 -> 0
+ * 1 -> 5
+ * 2 -> 10
+ * 3 -> 15
+ * 4 -> 20 // typically used by jack and pulse audio
+ * 5 -> 25
+ * 6 -> 30
+ * 7 -> 35
+ * 8 -> 40
+ * 9 -> 45
+ * 10 -> 50
+ * 11 -> 54
+ * 12 -> 59
+ * 13 -> 64
+ * 14 -> 69
+ * 15 -> 74
+ */
+ rt_sched_param
+ sys_pri::python() { return rt_sched_param(0, RT_SCHED_RR); }
+
+ rt_sched_param
+ sys_pri::normal() { return rt_sched_param(2, RT_SCHED_RR); }
+
+ rt_sched_param
+ sys_pri::gcell_event_handler(){ return rt_sched_param(5, RT_SCHED_FIFO); }
+
+ rt_sched_param
+ sys_pri::usrp2_backend() { return rt_sched_param(6, RT_SCHED_FIFO); }
+}
generated by cgit (git 2.34.1) at 2024-12-21 10:02:24 +0000