rtsolver.cc File Reference

#include "mbconfig.h"
#include "myassert.h"
#include "solver.h"
#include "solver_impl.h"
#include "rtsolver.h"
#include "rtaisolver.h"
#include "rtposixsolver.h"
#include "ac/sys_sysinfo.h"

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Functions
void	ReadRTParams (Solver *pS, MBDynParser &HP, RTSolverBase::RTMode &eRTMode, unsigned long &lRTPeriod, unsigned long &RTStackSize, bool &bRTAllowNonRoot, int &RTCpuMap)
RTSolverBase *	ReadRTSolver (Solver *pS, MBDynParser &HP)

Function Documentation

void ReadRTParams	(	Solver *	pS,
		MBDynParser &	HP,
		RTSolverBase::RTMode &	eRTMode,
		unsigned long &	lRTPeriod,
		unsigned long &	RTStackSize,
		bool &	bRTAllowNonRoot,
		int &	RTCpuMap
	)

Definition at line 89 of file rtsolver.cc.

References buf, get_nprocs(), HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, RTSolverBase::MBRT_IO, RTSolverBase::MBRT_SEMAPHORE, RTSolverBase::MBRT_UNKNOWN, and RTSolverBase::MBRT_WAITPERIOD.

Referenced by ReadRTAISolver(), and ReadRTPOSIXSolver().

{
        eRTMode = RTSolverBase::MBRT_UNKNOWN;
        /* FIXME: use a safe default? */
        if (HP.IsKeyWord("mode")) {
                if (HP.IsKeyWord("period")) {
                        eRTMode = RTSolverBase::MBRT_WAITPERIOD;

                } else if (HP.IsKeyWord("semaphore")) {
                        /* FIXME: not implemented yet ... */
                        eRTMode = RTSolverBase::MBRT_SEMAPHORE;

                } else if (HP.IsKeyWord("io")) {
                        eRTMode = RTSolverBase::MBRT_IO;

                } else {
                        silent_cerr("RTSolver: unknown realtime mode "
                                "at line " << HP.GetLineData()
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        }

        switch (eRTMode) {
        case RTSolverBase::MBRT_UNKNOWN:
                eRTMode = RTSolverBase::MBRT_WAITPERIOD;
                silent_cerr("RTSolver: unknown realtime mode; "
                        "assuming periodic "
                        "at line " << HP.GetLineData()
                        << std::endl);
                // fallthru

        case RTSolverBase::MBRT_WAITPERIOD:
                lRTPeriod = -1;
                if (HP.IsKeyWord("time" "step")) {
                        long long p = HP.GetInt();

                        if (p <= 0) {
                                silent_cerr("RTSolver: illegal time step "
                                        << p << " at line "
                                        << HP.GetLineData()
                                        << std::endl);
                                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }

                        lRTPeriod = p;

                } else {
                        silent_cerr("RTSolver: need a time step for real time "
                                "at line " << HP.GetLineData()
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                break;

        case RTSolverBase::MBRT_SEMAPHORE:
                // impossible, right now
                break;

        case RTSolverBase::MBRT_IO:
                break;

        default:
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        RTStackSize = 1024;
        if (HP.IsKeyWord("reserve" "stack")) {
                long size = HP.GetInt();

                if (size <= 0) {
                        silent_cerr("RTSolver: illegal stack size "
                                << size << " at line "
                                << HP.GetLineData()
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                RTStackSize = size;
        }

        bRTAllowNonRoot = false;
        if (HP.IsKeyWord("allow" "nonroot")) {
                bRTAllowNonRoot = true;
        }

        RTCpuMap = 0xFF;
        if (HP.IsKeyWord("cpu" "map")) {
#ifndef HAVE_SCHED_SETAFFINITY
                silent_cerr("warning: \"cpu map\" unsupported (ignored)" << std::endl);
#endif // ! HAVE_SCHED_SETAFFINITY

                int cpumap = HP.GetInt();
                // NOTE: there is a hard limit at 4 CPU
                int ncpu = std::min(get_nprocs(), 4);
                int newcpumap = (2 << (ncpu - 1)) - 1;

                /* i bit non legati ad alcuna cpu sono posti a zero */
                newcpumap &= cpumap;
                if (newcpumap < 1 || newcpumap > 0xFF) {
                        char buf[16];
                        snprintf(buf, sizeof(buf), "0x%02X", (unsigned)cpumap);
                        silent_cerr("RTSolver: illegal cpu map " << buf
                                << " at line " << HP.GetLineData()
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                RTCpuMap = newcpumap;
        }
}

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RTSolverBase* ReadRTSolver	(	Solver *	pS,
		MBDynParser &	HP
	)

Definition at line 206 of file rtsolver.cc.

References IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, ReadRTAISolver(), and ReadRTPOSIXSolver().

Referenced by InverseSolver::ReadData(), and Solver::ReadData().

{
        if (HP.IsKeyWord("POSIX")) {
                return ReadRTPOSIXSolver(pS, HP);
        }

#ifdef USE_RTAI
        if (!HP.IsKeyWord("RTAI")) {
                pedantic_cerr("ReadRTSolver: missing real-time model; "
                        "assuming RTAI at line " << HP.GetLineData()
                        << std::endl);
        }

        return ReadRTAISolver(pS, HP);

#else // ! USE_RTAI
        if (HP.IsKeyWord("RTAI")) {
                silent_cerr("ReadRTSolver: need to configure --with-rtai "
                        "to use RTAI real-time solver "
                        "at line " << HP.GetLineData() << std::endl);

        } else {
                silent_cerr("ReadRTSolver: need to configure --with-rtai "
                        "to use default RTAI real-time solver "
                        "at line " << HP.GetLineData() << std::endl);
        }

        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
#endif // ! USE_RTAI
}

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