diff --git a/app/benchmark/timing/aborted-computation.cc b/app/benchmark/timing/aborted-computation.cc
index 944523a6ee7e8763fe46afc99868d16dad5f4a41..964b1655d6614f9e2befffaadf99b1004f1a92b0 100644
--- a/app/benchmark/timing/aborted-computation.cc
+++ b/app/benchmark/timing/aborted-computation.cc
@@ -14,16 +14,16 @@ GENERATE_TIME_CONSUMER(computation, 5000)
extern "C" {
void timing_entry() {
+ timing_start(0);
ActivateTask(Computation);
WaitEvent(ComputationFinished | ComputationAborted);
+ timing_end(TIMING_POINT_NO_INTERRUPTS_IN_BLOCK | 0);
}
}
TASK(Control) {
- timing_start(0);
timing_entry();
- timing_end(TIMING_POINT_NO_INTERRUPTS_IN_BLOCK | 0);
/* ABB Split Point */
DisableAllInterrupts();
diff --git a/app/benchmark/timing/activate-task.cc b/app/benchmark/timing/activate-task.cc
index e79bf776f269f73d31032d8b22d389a40c9754a3..916c044ed63d60799eb0e2d0df31246cc90159dd 100644
--- a/app/benchmark/timing/activate-task.cc
+++ b/app/benchmark/timing/activate-task.cc
@@ -12,38 +12,49 @@ TIMING_MAKE_OS_MAIN( StartOS(0) )
GENERATE_TIME_CONSUMER(timing_1, 100)
GENERATE_TIME_CONSUMER(timing_2, 100)
+extern "C" {
+ void timing_entry_0() {
+ /* Timing Circuit 0:
+ - ActivateTask will not dispatch to Handler 12
+ */
+ timing_start(0);
+ ActivateTask(Handler12);
+ timing_end(0);
+ }
+
+ void timing_entry_1() {
+ /* The Timing Circuit 1 has the following properties:
+ - Activate Task will always Dispatch to upper Task
+ */
+ timing_start(1);
+ ActivateTask(Handler13);
+ timing_end(1);
+ }
+
+ void timing_entry_2() {
+ /* The Timing Circuit 2 has the following properties:
+ - Terminate and goto immediate task.
+ */
+ timing_start(2);
+ TerminateTask();
+ }
-TASK(Handler11) {
- /* Timing Circuit 0:
- - ActivateTask will not dispatch to Handler 12
- */
- timing_start(0);
-
- ActivateTask(Handler12);
-
- timing_end(0);
+}
+TASK(Handler11) {
+ timing_entry_0();
/* ABB Split Point */
DisableAllInterrupts();
EnableAllInterrupts();
- /* The Timing Circuit 1 has the following properties:
- - Activate Task will always Dispatch to upper Task
- */
- timing_start(1);
-
- ActivateTask(Handler13);
-
- timing_end(1);
+ timing_entry_1();
/* ABB Split Point */
DisableAllInterrupts();
EnableAllInterrupts();
- timing_start(2);
-
- TerminateTask();
+ timing_entry_2();
}
TASK(Handler12) {
diff --git a/app/benchmark/timing/all.sh b/app/benchmark/timing/all.sh
index cb604f81bf790123dc961f494ebe9cca1a008661..cc159543626f7cf751a5df73eedac7e24825881b 100755
--- a/app/benchmark/timing/all.sh
+++ b/app/benchmark/timing/all.sh
@@ -19,5 +19,10 @@ export NO_HEADER=1
#./run bench-timing-simple_interrupt 1
#./run bench-timing-alarm 0
+TIMING=$(pwd)
+# Manual Analysis
+cd ../../../build;
+${TIMING}/manual-syswcet.py --all -d bench-timing-manual.dref -vv
+
cd ${ALL_PWD}
diff --git a/app/benchmark/timing/interrupt-reaction.cc b/app/benchmark/timing/interrupt-reaction.cc
index dcd43ee931bf929dd65454e7b29c177685444aec..e2b0a547fc233b76f1d59f356d91f53fe570b194 100644
--- a/app/benchmark/timing/interrupt-reaction.cc
+++ b/app/benchmark/timing/interrupt-reaction.cc
@@ -7,10 +7,13 @@ TEST_MAKE_OS_MAIN( StartOS(0) )
DeclareTask(H2);
+
TASK(H1) {
timing_start(0 | TIMING_POINT_START_INTERRUPT_IN_BLOCK);
Machine::trigger_interrupt_from_user(37);
/* IRQ + H2 */
+
+
timing_dump();
TerminateTask();
}
diff --git a/app/benchmark/timing/manual-syswcet.py b/app/benchmark/timing/manual-syswcet.py
index ecdd3d52ba9a97fd558718964fd1100037b13bfc..ff05339bc6877e2f4f2359cd2dd16c205db36a6c 100755
--- a/app/benchmark/timing/manual-syswcet.py
+++ b/app/benchmark/timing/manual-syswcet.py
@@ -85,7 +85,8 @@ def parse_args():
parser.add_argument('-b', '--bench', dest='bench',
help='the benchmark under analysis',
- choices=['tmr','computation_alarm','aborted_computation'],
+ choices=['tmr','computation_alarm','aborted_computation', 'copter',
+ 'activate_task', 'wait_event', 'interrupt_reaction'],
required=False, default=None)
parser.add_argument('-d', '--dref', dest='dref_file',
@@ -140,10 +141,11 @@ def dref_key(dref_file, key, value):
if os.path.exists(dref_file):
with open(dref_file) as fd:
content += [x.strip() for x in fd.readlines()]
- line = '\\drefset{/%s/%s}{%s}' %(key, DREF_KEY, value)
+ key = '\\drefset{/%s/%s}' %(key, DREF_KEY)
+ line = '%s{%s}' %(key, value)
found = False
for idx in range(0, len(content)):
- if content[idx].startswith("\\drefset{%s}" % key):
+ if content[idx].startswith(key):
content[idx] = line
found = True
break
@@ -180,7 +182,7 @@ def add_events_with_iat(cy_base, events = []):
for (iat, cyc, name) in events:
occ = (int(cy_total) // int(iat)) + 1
cy_total += occ * cyc
- occurences[name] = occ
+ occurences[name] = (occ, occ * cyc)
return cy_total, occurences
@@ -243,6 +245,101 @@ def main():
dref_key(args.dref_file, "aborted computation", int(cy_total))
+ # 4 syscall benchmarks
+ if args.all or args.bench == 'activate_task':
+ args.bench = 'activate_task'
+ cy_timing_0 = get_cycles_from_entry('timing_entry_0', args.bench)
+ dref_key(args.dref_file, "activate 0", int(cy_timing_0))
+ cy_timing_1 = get_cycles_from_entry('timing_entry_1', args.bench)
+ cy_Handler13 = get_cycles_from_entry('OSEKOS_TASK_FUNC_Handler13', args.bench)
+ dref_key(args.dref_file, "activate 1", int(cy_timing_1+cy_Handler13))
+
+ cy_timing_2 = get_cycles_from_entry('timing_entry_2', args.bench)
+ cy_Handler12 = get_cycles_from_entry('OSEKOS_TASK_FUNC_Handler12', args.bench)
+ cy_idle = get_cycles_from_entry('__OS_HOOK_PreIdleHook', args.bench)
+
+ dref_key(args.dref_file, "activate 2", int(cy_timing_2+cy_Handler12+cy_idle))
+
+ if args.all or args.bench == 'wait_event':
+ args.bench = 'wait_event'
+ cy_timing_entry = get_cycles_from_entry('timing_entry', args.bench)
+ cy_H2 = get_cycles_from_entry('OSEKOS_TASK_FUNC_H2', args.bench)
+ dref_key(args.dref_file, "wait event", int(cy_timing_entry + cy_H2))
+
+ if args.all or args.bench == 'interrupt_reaction':
+ args.bench = 'interrupt_reaction'
+ cy_ISR = get_cycles_from_entry('irq_entry', args.bench, ["irq_entry : <> : OSEKOS_ISR_ISR1 = 1"])
+ cy_H2 = get_cycles_from_entry('OSEKOS_TASK_FUNC_H2', args.bench)
+
+ dref_key(args.dref_file, "interrupt reaction", int(cy_ISR + cy_H2))
+
+
+ if args.all or args.bench == 'copter':
+ args.bench = 'copter'
+ iat_timer = 100000
+ cy_timer_isr = get_cycles_from_entry('irq_entry', args.bench, ["irq_entry : <> : timer_isr = 1"])
+
+ iat_mavlink = 200000
+ cy_ISR_Mavlink = get_cycles_from_entry('irq_entry', args.bench, ["irq_entry : <> : OSEKOS_ISR_MavlinkRecvHandler = 1"])
+
+ cy_threads = {}
+ for thread in (
+ 'SignalGatherInitiateTask',
+ 'SignalGatherFinishedTask',
+ 'SignalGatherTimeoutTask',
+ 'SignalProcessingActuateTask',
+ 'SignalProcessingAttitudeTask',
+ 'FlightControlTask',
+ 'FlightControlAttitudeTask',
+ 'FlightControlActuateTask',
+ 'MavlinkSendTask',
+ 'CopterControlWatchdogTask',
+ 'CopterControlTask',
+ ):
+ cy_threads[thread] = get_cycles_from_entry('OSEKOS_TASK_FUNC_'+thread, 'copter')
+
+ cy_signal_processing = cy_threads['SignalGatherInitiateTask'] +\
+ cy_threads['SignalGatherFinishedTask'] +\
+ cy_threads['SignalGatherTimeoutTask'] + \
+ cy_threads['SignalProcessingActuateTask'] +\
+ cy_threads['SignalProcessingAttitudeTask']
+
+ cy_copter_0,occurences = add_events_with_iat(
+ cy_signal_processing,
+ [(iat_timer, cy_timer_isr, 'timer'), (iat_mavlink, cy_ISR_Mavlink, 'mavlink')]
+ )
+ logging.info("copter 0: %s", occurences)
+ dref_key(args.dref_file, "copter 0", cy_copter_0)
+
+
+ cy_flight_control = cy_threads['FlightControlTask'] + \
+ cy_threads['FlightControlAttitudeTask'] +\
+ cy_threads['FlightControlActuateTask'] + \
+ cy_threads['MavlinkSendTask']
+
+
+ cy_copter_1, occurences = add_events_with_iat(
+ cy_flight_control,
+ [(iat_timer, cy_timer_isr, 'timer'), (3 * iat_timer, cy_signal_processing, 'signal-processing'),
+ (iat_mavlink, cy_ISR_Mavlink, 'mavlink')]
+ )
+
+ logging.info("copter 1: %s", occurences)
+ dref_key(args.dref_file, "copter 1", cy_copter_1)
+
+ cy_rc_control = cy_ISR_Mavlink + \
+ cy_threads['CopterControlTask']
+
+ cy_copter_2, occurences = add_events_with_iat(
+ cy_rc_control,
+ [(iat_timer, cy_timer_isr, 'timer'),
+ (3 * iat_timer, cy_signal_processing, 'signal-processing'),
+ (9 * iat_timer, cy_flight_control, 'flight-control'),
+ ]
+ )
+
+ logging.info("copter 2: %s", occurences)
+ dref_key(args.dref_file, "copter 2", cy_copter_2)
if __name__=='__main__':
main()
diff --git a/app/benchmark/timing/run b/app/benchmark/timing/run
index 1c0344283254bbe4f85a753a954495451de1fc08..ff85235e9426f9241306695411be529b1c5bc517 100755
--- a/app/benchmark/timing/run
+++ b/app/benchmark/timing/run
@@ -38,8 +38,8 @@ make test-$BM &> $TRACE_OUTPUT
out_circuit=0
# iterate over all circuits dumped by the simulation
-for i in $(grep -P timing-[0-9]+ ${TRACE_OUTPUT} | cut -d' ' -f 2); do
-
+for i in $(grep -P timing-[0-9]+ ${TRACE_OUTPUT} | cut -d' ' -f 2); do
+
# the trace will dump all circuits
# However, only the current CIRCUIT is required
if [ "${out_circuit}" -eq "${CIRCUIT}" ]; then
@@ -49,4 +49,8 @@ for i in $(grep -P timing-[0-9]+ ${TRACE_OUTPUT} | cut -d' ' -f 2); do
out_circuit=$(expr ${out_circuit} + 1)
done
+if [ x"$CIRCUIT" = x"0" ]; then
+ platin blocking-time -i $BM-system.pml --wca-detect-gurobi --dref-stats $BM.dref
+fi
+
cd ${RUN_PWD}
diff --git a/app/benchmark/timing/wait-event.cc b/app/benchmark/timing/wait-event.cc
index 476765cf61af288dd137772fb440e94ec45b7214..b2648a343639c22ee7974f8a51f5c6ce6985f7c7 100644
--- a/app/benchmark/timing/wait-event.cc
+++ b/app/benchmark/timing/wait-event.cc
@@ -10,13 +10,18 @@ DeclareEvent(E2);
bool done;
+extern "C" {
+ void timing_entry() {
+ timing_start(0);
+ WaitEvent(E1);
+ timing_end(0);
+ }
+}
TASK(H1) {
ActivateTask(H2);
- timing_start(0);
- WaitEvent(E1);
- timing_end(0);
+ timing_entry();
/* ABB Split Point */
DisableAllInterrupts();
@@ -32,11 +37,3 @@ TASK(H2) {
SetEvent(H1, E1);
TerminateTask();
}
-
-TASK(H3) {
- TerminateTask();
-}
-
-void PreIdleHook() {
- Machine::trigger_interrupt_from_user(37);
-}
diff --git a/app/benchmark/timing/wait-event.oil b/app/benchmark/timing/wait-event.oil
index 1995bce4420dcc4d2b3452f44ae2211257c9f860..b6bc685fd098eba87358b9902de40a62aa5ee906 100644
--- a/app/benchmark/timing/wait-event.oil
+++ b/app/benchmark/timing/wait-event.oil
@@ -26,21 +26,13 @@ CPU TestSystem {
EVENT = E2;
};
- TASK H3 {
- SCHEDULE = NON;
- PRIORITY = 5;
- ACTIVATION = 1;
- AUTOSTART = FALSE;
- EVENT = E2;
+ EVENT E1 {
+ MASK = AUTO;
};
- EVENT E1 {
- MASK = AUTO;
- };
-
- EVENT E2 {
- MASK = AUTO;
- };
+ EVENT E2 {
+ MASK = AUTO;
+ };
};