xenomai-linux 实时性调试

本程序可以查看实时程序中是否调用了非实时接口，如果是的话会发送sigdebug信号提示或结束，开发者写实时程序的时候可以加上以防止写了非实时代码。 测试发现调用open,close write等常用inux系统调用都会进入非实时模式。打开CONFIG_XENO_OPT_DEBUG_TRACE_RELAX可以跟踪非实时调用的位置。

//-----------------------sigdebug.c----------------------------------------------------- 

/*
 * Copyright (C) 2004-2015 Philippe Gerum <rpm@xenomai.org>
 * Copyright (C) 2014 Gilles Chanteperdrix <gch@xenomai.org>
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <error.h>
#include <signal.h>
#include <sched.h>
#include <unistd.h>
#include <pthread.h>
#include <xeno_config.h>
#include <rtdm/testing.h>

#define HIPRIO 99
#define LOPRIO 0

int priority = HIPRIO;

static void *pthread_func(void *cookie)
{
    pthread_setmode_np(0, PTHREAD_WARNSW, NULL);
    open("abc",O_CREAT,0777);
    return NULL;
}

#ifdef CONFIG_XENO_COBALT

//#include <cobalt/uapi/syscall.h>

static const char *reason_str[] = {
        [SIGDEBUG_UNDEFINED] = "received SIGDEBUG for unknown reason",
        [SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
        [SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
        [SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
        [SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
        [SIGDEBUG_NOMLOCK] = "process memory not locked",
        [SIGDEBUG_WATCHDOG] = "watchdog triggered (period too short?)",
        [SIGDEBUG_LOCK_BREAK] = "scheduler lock break",
};

static void sigdebug(int sig, siginfo_t *si, void *context)
{
    printf("sigdebug\n\n");
    const char fmt[] = "%s, aborting.\n"
                       "(enabling CONFIG_XENO_OPT_DEBUG_TRACE_RELAX may help)\n";
    unsigned int reason = sigdebug_reason(si);
    int n __attribute__ ((unused));
    static char buffer[256];

    if (reason > SIGDEBUG_WATCHDOG)
        reason = SIGDEBUG_UNDEFINED;

    switch(reason) {
        case SIGDEBUG_UNDEFINED:
        case SIGDEBUG_NOMLOCK:
        case SIGDEBUG_WATCHDOG:
            n = snprintf(buffer, sizeof(buffer), "pthread_func: %s\n",
                         reason_str[reason]);
            n = write(STDERR_FILENO, buffer, n);
            exit(EXIT_FAILURE);
    }

    n = snprintf(buffer, sizeof(buffer), fmt, reason_str[reason]);
    n = write(STDERR_FILENO, buffer, n);
    signal(sig, SIG_DFL);
    kill(getpid(), sig);
}

#endif /* CONFIG_XENO_COBALT */

static void setup_sched_parameters(pthread_attr_t *attr, int prio)
{
    struct sched_param p;
    int ret;

    ret = pthread_attr_init(attr);
    if (ret)
        error(1, ret, "pthread_attr_init()");

    ret = pthread_attr_setinheritsched(attr, PTHREAD_EXPLICIT_SCHED);
    if (ret)
        error(1, ret, "pthread_attr_setinheritsched()");

    ret = pthread_attr_setschedpolicy(attr, prio ? SCHED_FIFO : SCHED_OTHER);
    if (ret)
        error(1, ret, "pthread_attr_setschedpolicy()");

    p.sched_priority = prio;
    ret = pthread_attr_setschedparam(attr, &p);
    if (ret)
        error(1, ret, "pthread_attr_setschedparam()");
}
int main(int argc, char *const *argv) {
    pthread_t latency_task;

    struct sigaction sa;
    pthread_attr_t tattr;

#ifdef CONFIG_XENO_COBALT
    sigemptyset(&sa.sa_mask);
    sa.sa_sigaction = sigdebug;
    sa.sa_flags = SA_SIGINFO;
    sigaction(SIGDEBUG, &sa, NULL);
#endif

    setup_sched_parameters(&tattr, priority);
    pthread_create(&latency_task, &tattr, pthread_func, NULL);
//    pthread_attr_destroy(&tattr);
    pthread_join(latency_task,NULL);
    return 0;
}