Hello
In august last year I reported a problem with round-robin scheduling
in the pSOS skin.
See mail thread "xenomai-forge: round-robin scheduling in pSOS skin".
Now that we stepped up to the latest version of Xenomai-forge, I was
retrying the same test I did at that time.
I observe that the situation has been improved: the roundrobin
scheduling as such is now working well,
but there is an issue with the initial flags passed to the t_start call.
The flags are not correctly taken into account by the t_start call.
The complete testcode is attached to the mail.
I basically create 2 tasks which both consume all cpu power for some time.
If I create the tasks with timeslice enabled:
t_create("WORK",10,0,0,0,&tid);
t_start(tid,T_TSLICE, perform_work, args);
I get this result:
# taskset 4 ./roundrobin.exe
0"000.493| WARNING: [main] Xenomai compiled with full debug enabled,
very high latencies expected [--enable-debug=full]
0 -> 7196
1 -> 0
If I explicitly add code in the taskbody to enable the timeslicing:
unsigned long old_mode;
t_mode((T_TSLICE|T_NOTSLICE),T_NOTSLICE, &old_mode);
t_mode((T_TSLICE|T_NOTSLICE),T_TSLICE, &old_mode);
I get this:
# taskset 4 ./roundrobin.exe
0"000.491| WARNING: [main] Xenomai compiled with full debug enabled,
very high latencies expected [--enable-debug=full]
0 -> 3600
1 -> 3592
The latter is the correct behavior: both tasks get equal cpu power.
Note the t_mode is called 2 times to make sure the change of the state
stored in the task object is taken into account.
---
Ronny
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