Laboratório de Mecatrônica EESC/USP SEM VxWorks/Workbench. Jean M.S.C. Yabarrena 30/04/10

Transcription

1 Laboratório de Mecatrônica EESC/USP SEM 0544 VxWorks/Workbench Jean M.S.C. Yabarrena 30/04/10

2 Motivação Como interagir com o VxWorks e como utilizar seus recursos

3 Objetivos Utilizar uma utilidade que utiliza o clock para medir o tempo de execução de uma tarefa. Entender como trabalha o VxWorks com múltlipas tarefas. Entender e implementar uma aplicação com semáforos. Entender e implementar uma aplicação que envia e receba mensagens.

4 Wind Microkernel

5 Memory Protection Real-Time Processes (RTPs)

6 Arquivos e tipos de Projetos 1. Project Files in VxWorks Image Projects (VIP) vxworks(default) vxworks.bin (default) vxworks.hex (default) 2. Project Files in VxWorks Source Build Projects 3. Project Files in Downloadable Kernel Module Projects (DKM) TargetName.out TargetName_partialImage.o

7 Arquivos e tipos de Projetos 4. Project Files in Real-Time Process Projects (RTP) TargetName.vxe (BuildSpec[- debug]) fully linked VxWorks executable. Librarian build tool 5. Project Files in Shared Library Projects TargetName.so The shared library used by the VxWorks executable

8 VxWorks content

9 Tempo de execução # 1 -DKM

10 Tempo # 1.5 DKM Baseado no exemplo Embry-Riddle Real-Time Laboratory #include "vxworks.h" /* Always include this as the first thing in every program */ #include "timexlib.h" #include "stdio.h" #define ITERATIONS 500 /* 0x1F4 */ int printit(void); void timing() /* Function to perform the timing */ { FUNCPTR function_ptr = printit; /* a pointer to the function "printit" */ timex(function_ptr,null,null,null,null,null,null,null,null); /* Timing the "print" function */ } int printit(void) /* Function being timed */ { int i; for(i=0; i < ITERATIONS; i++) /* Printing the task id number and the increment variable "i" */ printf("sou a tarefa %x e execução No = %d\n",taskidself(),i); return 0; } 30/04/2010 Jean M. S. C. Yabarrena

11 Tempo # 2 -DKM

12 Tempo # 3 -DKM

13 Tempo # 4 DKM 200

14 Tempo # 6 DKM timing

15 Tempo # 7 DKM timexn

16 Multitarefa #1 Comandos do shell importantes lkup ["substr"] List symbols in system symbol table lkaddr address List symbol table entries near address checkstack [task] List task stack sizes and usage i [task] Summary of tasks' TCBs ti task Complete info on TCB for task td task Delete a task devs List devices ld [syms[,noabort][,"name"]] Load stdin, or file, into memory (syms = add symbols to table: h [n] Print (or set) shell history 30/04/2010 Jean M. S. C. Yabarrena

17 Multitarefa #2 sysclkrateget ( ) value = 60 = 0x3c = '<

18 Multitarefa #3 A task's context includes: a thread of execution; that is, the task's program counter the tasks' virtual memory context (if process support is included) the CPU registers and (optionally) coprocessor registers stacks for dynamic variables and function calls I/O assignments for standard input, output, and error a delay timer a time-slice timer kernel control structures signal handlers task private environment (for environment variables) error status (errno) debugging and performance monitoring values 30/04/2010 Jean M. S. C. Yabarrena

19 Multitarefa #4 #include "vxworks.h" #include "tasklib.h" #include "stdio.h" #define ITERATIONS 10 #define LOOP /* 20 10^6*/ void print(void); 30/04/2010 Jean M. S. C. Yabarrena

20 Multitarefa #5 gerar_tarefas() /* Rotina que executa o spawning */ { int i, taskid; for(i=0; i < ITERATIONS; i++) /* Cria 10 tarefas */ taskid = taskspawn("tprint",70,0x100,2000,(funcptr)print,0,0,0,0,0,0,0,0,0,0); } void print(void) /* Subroutine to be spawned */ { int i; /*nanosleep(1000);*/ taskdelay(300); /*Bloqueamos a tarefa por 5 segundos*/ for(i=0; i < LOOP; i++); printf("saindo da tarefa %x\n",taskidself());/* Impressão task Id */ } 30/04/2010 Jean M. S. C. Yabarrena

21 Multitarefa #5.5

22 Multitarefa #6

23 Multitarefa #7

24 Multitarefa #8

25 Semáforos #1

26 Semáforos #1

27 Semáforos #1 #include"vxworks.h" #include"tasklib.h" #include"semlib.h" #include"stdio.h" /* function prototypes */ void taskone(void); void tasktwo(void); /* globals */ #define ITER 10 SEM_ID sembinary; int global = 0;

28 Semáforos #2 { void binary(void) int taskidone, taskidtwo; /* cria um semáforo baseado em FIFO */ sembinary = sembcreate(sem_q_fifo, SEM_FULL); /* Nota 1: Bloqueio o semáforo */ semtake(sembinary,wait_forever); /* spawn as 2 tarefas */ taskidone = taskspawn("t1",90,0x100,2000,(funcptr)taskone,0,0,0,0,0,0,0,0,0,0); taskidtwo = taskspawn("t2",89,0x100,2000,(funcptr)tasktwo,0,0,0,0,0,0,0,0,0,0); }

29 Semáforos #2.5 { void taskone(void) int i; for (i=0; i < ITER; i++) { semtake(sembinary,wait_forever); /* espera indefinidamente pelo semáforo */ printf("sou a taskone, o valor do recurso compartilhado = %d\n", ++global); semgive(sembinary); /* entrega semáforo */ } }

30 Semáforos #2.7 void tasktwo(void) { int i; semgive(sembinary); /* Nota 2: O escalonador entrega o semáforo */ for (i=0; i < ITER; i++) { semtake(sembinary,wait_forever); /* espera indefinidamente pelo semáforo */ printf("sou a tasktwo, o valor do recurso compartilhado = %d\n",--global); semgive(sembinary); /* entrega semáforo */ } }

31 Semáforos #3

32 Semáforos #3

33 Filas de mensagens Modern real-time applications are constructed as a set of independentbut cooperating tasks. While semaphores provide a high-speed mechanism for the synchronization and interlocking of tasks, often a higher-level mechanismis necessary to allow cooperating tasks to communicate with each other. In VxWorks, the primary intertask communication mechanism within a single CPU is message queues.

34 Filas de mensagens

35 Filas de mensagens #include "vxworks.h" #include "msgqlib.h" /* function prototypes */ void taskone_q(void); void tasktwo_q(void); /* defines */ #define MAX_MESSAGES 100 #define MAX_MESSAGE_LENGTH 50 /* globals */ MSG_Q_ID mesgqueueid; /* Identificador do recurso compartilhado */

36 Filas de mensagens void message(void) /* Cria uma fila de mensagens e 2 tarefas */ { int taskidone, taskidtwo; /* cria fila de mensagens */ if ((mesgqueueid = msgqcreate(max_messages,max_message_length,msg_q_fifo)) == NULL) printf("msgqcreate in failed\n"); /* spawn 2 tarefas que utilizarão a fila */ if((taskidone = taskspawn("t1_q",90,0x100,2000,(funcptr)taskone_q,0,0,0,0,0,0,0, 0,0,0)) == ERROR) printf("taskspawn taskone failed\n"); if((taskidtwo = taskspawn("t2_q",90,0x100,2000,(funcptr)tasktwo_q,0,0,0,0,0,0,0, 0,0,0)) == ERROR) printf("taskspawn tasktwo failed\n"); }

37 Filas de mensagens void taskone_q(void) /* tarefa escreve na fila de mensagems */ { char message[] = "Recibi a mensagem da taskone"; /* envia mensagem */ if((msgqsend(mesgqueueid,message,max_message_length, WAIT_FOREVER, MSG_PRI_NORMAL)) == ERROR) printf("msgqsend in taskone failed\n"); } void tasktwo_q(void) /* tarefa lê a fila de mensagens */ { char msgbuf[max_message_length]; /* receve mensagem */ if(msgqreceive(mesgqueueid,msgbuf,max_message_length, WAIT_FOREVER) == ERROR) printf("msgqreceive in tasktwo failed\n"); else printf("%s\n",msgbuf); msgqdelete(mesgqueueid); /* apago a fila */ }

38 Multitarefa #9

39 Multitarefa #10

40 Multitarefa #11