Update rtl2.2 to 3.0p10

["Peter Helbig" <Peter.Helbig@rayonic.de>]

Hello Everybody!

I updated from rtlV2.2 to V3.0p10 and found a different behaviour of  pthread_make_periodic_np(...,...,0). In V2.2 it works as suspected: The  thread is called once and is sentenced to wait with a pthread_wait_np()  afterwards.  In V3.0p10 the call of pthread_wait_np() blocks the thread  forever.

Code example:

void *thread_code(void *param)
{

// blabla
--------------- snip -----------------------------------------------
do
{
min_diff = 2000000000;
max_diff = -2000000000;

for (i = 0; i < ntests; i++)
{
now = clock_gethrtime(rtl_getschedclock());
if (advance && !mode)
{
if (now < expected)
{
rtl_delay (expected - now);
}
now = clock_gethrtime(CLOCK_UST);
}

/* start of next time element */
do_rayonic_start();
do_rayonic(loops);
do_rayonic_fini();

/* finished user part of measurement */
fini = clock_gethrtime(rtl_getschedclock());
samp.fini = fini;

/* calculate time for next activation */
/* 1) difference from expectation */
diff = now - expected;
samp.diff = diff;
if (diff < min_diff)
{
min_diff = diff;
}

if (diff > max_diff)
{
max_diff = diff;
}

/* 2) theoretical sleeping duration */
sleepfor = CYCLETIME-(fini-now);
samp.sleepfor = sleepfor;

/* 3) adaptive control towards expected time */
sleepfor -= diff;

/* 4) avoid processor overload */
expected += CYCLETIME;
while (sleepfor < MAXLOAD)
{
sleepfor += CYCLETIME;
expected += CYCLETIME;
samp.skipped ++;
}

/* 5) absolute time for reactivation */
sleepto = (now+sleepfor);
samp.sleepto = sleepto;

pthread_make_periodic_np (pthread_self(),sleepto,0);
//++++++++++++++++++++++++++++++++++++++++++++++++
// In V3.0p10 the next call blocks the thread forever,
// in V2.2 it works properly....	
//++++++++++++++++++++++++++++++++++++++++++++++++
                     pthread_wait_np();
}

samp.min = min_diff;
samp.max = max_diff;
write (fifo_monitor, &samp, sizeof(samp));

} while (1);    // endless...


----------------- snap -----------------------------------------------------------
} // thread end


Any hints will be welcome!


Peter

Peter Helbig
Rayonic Sensor Systems GmbH
Entwicklung Software
Bayreuther Strasse 108
D-91301 Forchheim

Tel: ++49 (0) 9191 72 818-0
Fax: ++49 (0) 9191 640 333
Email: Peter.Helbig@rayonic.de
http://www.rayonic.de