Hi,
we have the following scenario:
A high priority periodic primary domain task (H), which calls
rt_task_suspend(L) in each even period and rt_task_resume(L)
in each odd period on a low priority primary domain task (L).
L-task consumes all available CPU resources (while(1)).
Thus, the rest of each cycle (after H has got the CPU) is used
alternately by L-task, ROOT-task, L-task,...
In our debugging implementation, we send a SIGTRAP to L-task.
H-task recognizes this by reporting EINTR when calling rt_task_suspend(L).
But, the while(1) in L-task is not interrupted although there is a SIGTRAP
pending.
Our workaround could be, to send a rt_signal when rt_task_suspend()
returns EINTR and, then, in the rt-signal handler migrate L-task
to secondary domain (calling rt_task_set_mode(T_PRIMARY,0))
initiating the Linux scheduler, which, then, initiates the SIGTRAP handling
in secondary domain context.
Is there a simpler way to get primary domain tasks interrupted
by Linux signals? Xenomai already knows about the pending signal
and, maybe, could initiate the secondary domain switch on a primary scheduler
event.
Thanks,
Olli
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