Module: xenomai-3
Branch: next
Commit: 7ef97138f15a89efa19d41aa3c5a78184ddbbc1b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7ef97138f15a89efa19d41aa3c5a78184ddbbc1b
Author: Philippe Gerum <r...@xenomai.org>
Date: Sat Feb 27 18:52:35 2016 +0100
drivers/testing: rtdm: add actor task device
This is for unit testing in task context. The actor task performs
simple test requests issued by userland.
---
include/rtdm/uapi/testing.h | 5 ++
kernel/drivers/testing/rtdmtest.c | 169 +++++++++++++++++++++++++++++++------
2 files changed, 147 insertions(+), 27 deletions(-)
diff --git a/include/rtdm/uapi/testing.h b/include/rtdm/uapi/testing.h
index 710bea8..76da5ee 100644
--- a/include/rtdm/uapi/testing.h
+++ b/include/rtdm/uapi/testing.h
@@ -83,6 +83,7 @@ struct rttst_swtest_error {
#define RTTST_RTDM_NORMAL_CLOSE 0
#define RTTST_RTDM_DEFER_CLOSE_CONTEXT 1
+#define RTTST_RTDM_START_STOP_TASK 2
#define RTIOC_TYPE_TESTING RTDM_CLASS_TESTING
@@ -141,6 +142,10 @@ struct rttst_swtest_error {
#define RTTST_RTIOC_RTDM_DEFER_CLOSE \
_IOW(RTIOC_TYPE_TESTING, 0x40, __u32)
+
+#define RTTST_RTIOC_RTDM_ACTOR_GET_CPU \
+ _IOR(RTIOC_TYPE_TESTING, 0x41, __u32)
+
/** @} */
#endif /* !_RTDM_UAPI_TESTING_H */
diff --git a/kernel/drivers/testing/rtdmtest.c
b/kernel/drivers/testing/rtdmtest.c
index c5224d0..5c705e6 100644
--- a/kernel/drivers/testing/rtdmtest.c
+++ b/kernel/drivers/testing/rtdmtest.c
@@ -17,7 +17,6 @@
*/
#include <linux/module.h>
-
#include <rtdm/driver.h>
#include <rtdm/testing.h>
@@ -26,28 +25,38 @@ MODULE_AUTHOR("Jan Kiszka <jan.kis...@web.de>");
MODULE_VERSION("0.1.0");
MODULE_LICENSE("GPL");
-struct rtdm_test_context {
+struct rtdm_basic_context {
rtdm_timer_t close_timer;
unsigned long close_counter;
unsigned long close_deferral;
};
+struct rtdm_actor_context {
+ rtdm_task_t actor_task;
+ unsigned int request;
+ rtdm_event_t run;
+ rtdm_event_t done;
+ union {
+ __u32 cpu;
+ } args;
+};
+
static void close_timer_proc(rtdm_timer_t *timer)
{
- struct rtdm_test_context *ctx =
- container_of(timer, struct rtdm_test_context, close_timer);
+ struct rtdm_basic_context *ctx =
+ container_of(timer, struct rtdm_basic_context, close_timer);
if (ctx->close_counter != 1)
- printk(KERN_ERR
+ printk(XENO_ERR
"rtdmtest: %s: close_counter is %lu, should be 1!\n",
__FUNCTION__, ctx->close_counter);
rtdm_fd_unlock(rtdm_private_to_fd(ctx));
}
-static int rtdm_test_open(struct rtdm_fd *fd, int oflags)
+static int rtdm_basic_open(struct rtdm_fd *fd, int oflags)
{
- struct rtdm_test_context *ctx = rtdm_fd_to_private(fd);
+ struct rtdm_basic_context *ctx = rtdm_fd_to_private(fd);
rtdm_timer_init(&ctx->close_timer, close_timer_proc,
"rtdm close test");
@@ -57,16 +66,16 @@ static int rtdm_test_open(struct rtdm_fd *fd, int oflags)
return 0;
}
-static void rtdm_test_close(struct rtdm_fd *fd)
+static void rtdm_basic_close(struct rtdm_fd *fd)
{
- struct rtdm_test_context *ctx = rtdm_fd_to_private(fd);
+ struct rtdm_basic_context *ctx = rtdm_fd_to_private(fd);
ctx->close_counter++;
switch (ctx->close_deferral) {
case RTTST_RTDM_DEFER_CLOSE_CONTEXT:
if (ctx->close_counter != 2) {
- printk(KERN_ERR
+ printk(XENO_ERR
"rtdmtest: %s: close_counter is %lu, "
"should be 2!\n",
__FUNCTION__, ctx->close_counter);
@@ -78,10 +87,10 @@ static void rtdm_test_close(struct rtdm_fd *fd)
rtdm_timer_destroy(&ctx->close_timer);
}
-static int
-rtdm_test_ioctl(struct rtdm_fd *fd, unsigned int request, void __user *arg)
+static int rtdm_basic_ioctl(struct rtdm_fd *fd,
+ unsigned int request, void __user *arg)
{
- struct rtdm_test_context *ctx = rtdm_fd_to_private(fd);
+ struct rtdm_basic_context *ctx = rtdm_fd_to_private(fd);
int err = 0;
switch (request) {
@@ -94,7 +103,6 @@ rtdm_test_ioctl(struct rtdm_fd *fd, unsigned int request,
void __user *arg)
RTDM_TIMERMODE_RELATIVE);
}
break;
-
default:
err = -ENOTTY;
}
@@ -102,30 +110,137 @@ rtdm_test_ioctl(struct rtdm_fd *fd, unsigned int
request, void __user *arg)
return err;
}
-static struct rtdm_driver rtdmtest_driver = {
- .profile_info = RTDM_PROFILE_INFO(rtdmtest,
+static void actor_handler(void *arg)
+{
+ struct rtdm_actor_context *ctx = arg;
+ int ret;
+
+ for (;;) {
+ if (rtdm_task_should_stop())
+ return;
+
+ ret = rtdm_event_wait(&ctx->run);
+ if (ret)
+ break;
+
+ switch (ctx->request) {
+ case RTTST_RTIOC_RTDM_ACTOR_GET_CPU:
+ ctx->args.cpu = task_cpu(current);
+ break;
+ default:
+ printk(XENO_ERR "rtdmtest: bad request code %d\n",
+ ctx->request);
+ }
+
+ rtdm_event_signal(&ctx->done);
+ }
+}
+
+static int rtdm_actor_open(struct rtdm_fd *fd, int oflags)
+{
+ struct rtdm_actor_context *ctx = rtdm_fd_to_private(fd);
+
+ rtdm_event_init(&ctx->run, 0);
+ rtdm_event_init(&ctx->done, 0);
+
+ return rtdm_task_init(&ctx->actor_task, "rtdm_actor",
+ actor_handler, ctx,
+ RTDM_TASK_LOWEST_PRIORITY, 0);
+}
+
+static void rtdm_actor_close(struct rtdm_fd *fd)
+{
+ struct rtdm_actor_context *ctx = rtdm_fd_to_private(fd);
+
+ rtdm_task_destroy(&ctx->actor_task);
+ rtdm_event_destroy(&ctx->run);
+ rtdm_event_destroy(&ctx->done);
+}
+
+#define ACTION_TIMEOUT 50000000ULL /* 50 ms timeout on action */
+
+static int run_action(struct rtdm_actor_context *ctx, unsigned int request)
+{
+ rtdm_toseq_t toseq;
+
+ rtdm_toseq_init(&toseq, ACTION_TIMEOUT);
+ ctx->request = request;
+ rtdm_event_signal(&ctx->run);
+ /*
+ * XXX: The handshake mechanism is not bullet-proof against
+ * -EINTR received when waiting for the done event. Hopefully
+ * we won't restart/start a request while the action task has
+ * not yet completed the previous one we stopped waiting for
+ * abruptly.
+ */
+ return rtdm_event_timedwait(&ctx->done, ACTION_TIMEOUT, &toseq);
+}
+
+static int rtdm_actor_ioctl(struct rtdm_fd *fd,
+ unsigned int request, void __user *arg)
+{
+ struct rtdm_actor_context *ctx = rtdm_fd_to_private(fd);
+ int ret;
+
+ switch (request) {
+ case RTTST_RTIOC_RTDM_ACTOR_GET_CPU:
+ ctx->args.cpu = (__u32)-EINVAL;
+ ret = run_action(ctx, request);
+ if (ret)
+ break;
+ ret = rtdm_safe_copy_to_user(fd, arg, &ctx->args.cpu,
+ sizeof(ctx->args.cpu));
+ break;
+ default:
+ ret = -ENOTTY;
+ }
+
+ return ret;
+}
+
+static struct rtdm_driver rtdm_basic_driver = {
+ .profile_info = RTDM_PROFILE_INFO(rtdm_test_basic,
RTDM_CLASS_TESTING,
RTDM_SUBCLASS_RTDMTEST,
RTTST_PROFILE_VER),
.device_flags = RTDM_NAMED_DEVICE | RTDM_EXCLUSIVE,
.device_count = 2,
- .context_size = sizeof(struct rtdm_test_context),
+ .context_size = sizeof(struct rtdm_basic_context),
+ .ops = {
+ .open = rtdm_basic_open,
+ .close = rtdm_basic_close,
+ .ioctl_rt = rtdm_basic_ioctl,
+ .ioctl_nrt = rtdm_basic_ioctl,
+ },
+};
+
+static struct rtdm_driver rtdm_actor_driver = {
+ .profile_info = RTDM_PROFILE_INFO(rtdm_test_actor,
+ RTDM_CLASS_TESTING,
+ RTDM_SUBCLASS_RTDMTEST,
+ RTTST_PROFILE_VER),
+ .device_flags = RTDM_NAMED_DEVICE | RTDM_EXCLUSIVE,
+ .device_count = 1,
+ .context_size = sizeof(struct rtdm_actor_context),
.ops = {
- .open = rtdm_test_open,
- .close = rtdm_test_close,
- .ioctl_rt = rtdm_test_ioctl,
- .ioctl_nrt = rtdm_test_ioctl,
+ .open = rtdm_actor_open,
+ .close = rtdm_actor_close,
+ .ioctl_rt = rtdm_actor_ioctl,
},
};
-static struct rtdm_device device[2] = {
+static struct rtdm_device device[3] = {
[0 ... 1] = {
- .driver = &rtdmtest_driver,
+ .driver = &rtdm_basic_driver,
.label = "rtdm%d",
+ },
+ [2] = {
+ .driver = &rtdm_actor_driver,
+ .label = "rtdmx",
}
};
-static int __init __rtdm_test_init(void)
+static int __init rtdm_test_init(void)
{
int i, ret;
@@ -146,7 +261,7 @@ fail:
return ret;
}
-static void __exit __rtdm_test_exit(void)
+static void __exit rtdm_test_exit(void)
{
int i;
@@ -154,5 +269,5 @@ static void __exit __rtdm_test_exit(void)
rtdm_dev_unregister(device + i);
}
-module_init(__rtdm_test_init);
-module_exit(__rtdm_test_exit);
+module_init(rtdm_test_init);
+module_exit(rtdm_test_exit);
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