hongzha1 via Xenomai <[email protected]> writes:
> Initialise and start a real-time task on specified cpu. > > Introduce rtdm_task_affinity as base called by other init > task services to avoid code duplication. > > Signed-off-by: hongzha1 <[email protected]> > > diff --git a/include/cobalt/kernel/rtdm/driver.h > b/include/cobalt/kernel/rtdm/driver.h > index 733c49df8..5406e54a5 100644 > --- a/include/cobalt/kernel/rtdm/driver.h > +++ b/include/cobalt/kernel/rtdm/driver.h > @@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg); > int rtdm_task_init(rtdm_task_t *task, const char *name, > rtdm_task_proc_t task_proc, void *arg, > int priority, nanosecs_rel_t period); > + > +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name, > + rtdm_task_proc_t task_proc, void *arg, > + int priority, nanosecs_rel_t period); > + > int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode); > void rtdm_task_busy_sleep(nanosecs_rel_t delay); > > diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c > index b914fa312..22ae79256 100644 > --- a/kernel/cobalt/rtdm/drvlib.c > +++ b/kernel/cobalt/rtdm/drvlib.c > @@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void); > */ > > /** > - * @brief Initialise and start a real-time task > + * @brief Initialise and start a real-time task with cpu affinity > * > * After initialising a task, the task handle remains valid and can be > * passed to RTDM services until either rtdm_task_destroy() or > * rtdm_task_join() was invoked. > * > * @param[in,out] task Task handle > + * @param[in] cpu affinity that task want to run with > * @param[in] name Optional task name > * @param[in] task_proc Procedure to be executed by the task > * @param[in] arg Custom argument passed to @c task_proc() on entry > @@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void); > * > * @coretags{secondary-only, might-switch} > */ > -int rtdm_task_init(rtdm_task_t *task, const char *name, > - rtdm_task_proc_t task_proc, void *arg, > - int priority, nanosecs_rel_t period) > +static inline int rtdm_task_affinity(rtdm_task_t *task, > + const struct cpumask *affinity, const char *name, > + rtdm_task_proc_t task_proc, void *arg, > + int priority, nanosecs_rel_t period) > { > union xnsched_policy_param param; > struct xnthread_start_attr sattr; > @@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name, > iattr.name = name; > iattr.flags = 0; > iattr.personality = &xenomai_personality; > - iattr.affinity = CPU_MASK_ALL; > + iattr.affinity = affinity ? (*affinity) : CPU_MASK_ALL; > param.rt.prio = priority; > > err = xnthread_init(task, &iattr, &xnsched_class_rt, ¶m); > @@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name, > return err; > } > > +/** > + * @brief Initialise and start a real-time task > + * > + * After initialising a task, the task handle remains valid and can be > + * passed to RTDM services until either rtdm_task_destroy() or > + * rtdm_task_join() was invoked. > + * > + * @param[in,out] task Task handle > + * @param[in] name Optional task name > + * @param[in] task_proc Procedure to be executed by the task > + * @param[in] arg Custom argument passed to @c task_proc() on entry > + * @param[in] priority Priority of the task, see also > + * @ref rtdmtaskprio "Task Priority Range" > + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic > + * mode. Waiting for the first and subsequent periodic events is > + * done using rtdm_task_wait_period(). > + * > + * @return 0 on success, otherwise negative error code > + * > + * @coretags{secondary-only, might-switch} > + */ > +int rtdm_task_init(rtdm_task_t *task, const char *name, > + rtdm_task_proc_t task_proc, void *arg, > + int priority, nanosecs_rel_t period) > +{ > + return rtdm_task_affinity(task, NULL, > + name, task_proc, arg, priority, period); > +} > EXPORT_SYMBOL_GPL(rtdm_task_init); > > +/** > + * @brief Initialise and start a real-time task on specified cpu > + * > + * After initialising a task, the task handle remains valid and can be > + * passed to RTDM services until either rtdm_task_destroy() or > + * rtdm_task_join() was invoked. > + * > + * @param[in,out] task Task handle > + * @param[in] cpu that task want to run on > + * @param[in] name Optional task name > + * @param[in] task_proc Procedure to be executed by the task > + * @param[in] arg Custom argument passed to @c task_proc() on entry > + * @param[in] priority Priority of the task, see also > + * @ref rtdmtaskprio "Task Priority Range" > + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic > + * mode. Waiting for the first and subsequent periodic events is > + * done using rtdm_task_wait_period(). > + * > + * @return 0 on success, otherwise negative error code > + * > + * @coretags{secondary-only, might-switch} > + */ > +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, > + const char *name, rtdm_task_proc_t task_proc, void *arg, > + int priority, nanosecs_rel_t period) > +{ > + if (!cpu_online(cpu)) > + return -EINVAL; > + > + return rtdm_task_affinity(task, cpumask_of(cpu), > + name, task_proc, arg, priority, period); > + > +} > +EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu); > + > #ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */ > /** > * @brief Destroy a real-time task Merged, thanks. -- Philippe.
