Tool/software:
Hello,
When I enable it by changing #if 0 to #if 1, the application crashes.
To address this, we implemented a workaround, which is attached as a patch file.
We would like to know:
We need to run a custom TIOVX kernel on the A72 core with high/real-time priority on both QNX and Linux.
It appears there is a provision for this in tivx_task.c under the following section:
It appears there is a provision for this in tivx_task.c under the following section:
#if 0However, this code is currently disabled with #if 0.
{
struct sched_param schedprm;
uint32_t pri;
if(task->stack_size>0)
{
status |= pthread_attr_setstacksize(&thread_attr, task->stack_size);
}
status |= pthread_attr_setschedpolicy(&thread_attr, SCHED_RR);
pri = PRI_MIN;
if(task->priority==TIVX_TASK_PRI_HIGHEST)
{
pri = PRI_MAX;
}
else
if(task->priority==TIVX_TASK_PRI_LOWEST)
{
pri = PRI_MIN;
}
schedprm.sched_priority = pri;
status |= pthread_attr_setschedparam(&thread_attr, &schedprm);
}
#endif
When I enable it by changing #if 0 to #if 1, the application crashes.
To address this, we implemented a workaround, which is attached as a patch file.
We would like to know:
- What is TI's recommendation for setting higher task priority in a production use case?
- Will the #if 0 block be removed or properly implemented in the next release?
Thank you,
From 3a861516201e386a991fcadd71f35f905edcc84c Mon Sep 17 00:00:00 2001
From: Semyon Sylka <semyon.sylka@cogentembedded.com>
Date: Thu, 5 Dec 2024 23:00:15 +0300
Subject: [PATCH] TIOVX: Add Realtime task creation API for posix
---
tiovx/include/TI/tivx_task.h | 12 +++++
tiovx/source/platform/os/posix/tivx_task.c | 51 +++++++++----------
tiovx/source/platform/os/win32/tivx_task.c | 5 ++
.../source/platform/psdk_j7/rtos/tivx_task.c | 5 ++
4 files changed, 47 insertions(+), 26 deletions(-)
diff --git a/tiovx/include/TI/tivx_task.h b/tiovx/include/TI/tivx_task.h
index 220b6248..3cd48ab1 100755
--- a/tiovx/include/TI/tivx_task.h
+++ b/tiovx/include/TI/tivx_task.h
@@ -220,6 +220,18 @@ void tivxTaskSetDefaultCreateParams(tivx_task_create_params_t *params);
*/
vx_status tivxTaskCreate(tivx_task *task, const tivx_task_create_params_t *params);
+/*!
+ * \brief Create a "real-time" scheduled task
+ *
+ * \param task [out] Pointer to task object
+ * \param params [in] Task create parameters
+ *
+ * \return VX_SUCCESS on success
+ *
+ * \ingroup group_tivx_task
+ */
+vx_status tivxTaskCreateRt(tivx_task *task, const tivx_task_create_params_t *params);
+
/*!
* \brief Delete a task
*
diff --git a/tiovx/source/platform/os/posix/tivx_task.c b/tiovx/source/platform/os/posix/tivx_task.c
index a4d78533..a3eb1f20 100644
--- a/tiovx/source/platform/os/posix/tivx_task.c
+++ b/tiovx/source/platform/os/posix/tivx_task.c
@@ -100,7 +100,9 @@ static void *tivxTaskMain(void *arg)
return NULL;
}
-vx_status tivxTaskCreate(tivx_task *task, const tivx_task_create_params_t *params)
+static vx_status tivxTaskCreateWithPriority(tivx_task *task,
+ const tivx_task_create_params_t *params,
+ bool set_priority)
{
vx_status status = (vx_status)VX_SUCCESS;
@@ -131,37 +133,24 @@ vx_status tivxTaskCreate(tivx_task *task, const tivx_task_create_params_t *param
if(status==0)
{
- #if 0
+ status = pthread_create(&context->hndl, &thread_attr, tivxTaskMain, task);
+
+ if(status==0 && set_priority)
{
- struct sched_param schedprm;
- uint32_t pri;
+ struct sched_param param;
+ int policy = SCHED_FIFO; // Use SCHED_FIFO for real-time
+ int max_priority = sched_get_priority_max(policy);
- if(task->stack_size>0)
- {
- status |= pthread_attr_setstacksize(&thread_attr, task->stack_size);
- }
- status |= pthread_attr_setschedpolicy(&thread_attr, SCHED_RR);
+ param.sched_priority = max_priority;
- pri = PRI_MIN;
- if(task->priority==TIVX_TASK_PRI_HIGHEST)
- {
- pri = PRI_MAX;
- }
- else
- if(task->priority==TIVX_TASK_PRI_LOWEST)
- {
- pri = PRI_MIN;
- }
+ // Set scheduling policy and priority
+ status = pthread_setschedparam(context->hndl, policy, ¶m);
- schedprm.sched_priority = pri;
- status |= pthread_attr_setschedparam(&thread_attr, &schedprm);
+ if (status != 0) {
+ VX_PRINT(VX_ZONE_ERROR, "Failed to setup sched params\n");
+ }
}
- #endif
- if(status==0)
- {
- status = pthread_create(&context->hndl, &thread_attr, tivxTaskMain, task);
- }
(void)pthread_attr_destroy(&thread_attr);
}
if (status == 0)
@@ -187,6 +176,16 @@ vx_status tivxTaskCreate(tivx_task *task, const tivx_task_create_params_t *param
return (status);
}
+vx_status tivxTaskCreate(tivx_task *task, const tivx_task_create_params_t *params)
+{
+ return tivxTaskCreateWithPriority(task, params, false);
+}
+
+vx_status tivxTaskCreateRt(tivx_task *task, const tivx_task_create_params_t *params)
+{
+ return tivxTaskCreateWithPriority(task, params, true);
+}
+
vx_status tivxTaskDelete(tivx_task *task)
{
vx_status status = (vx_status)VX_SUCCESS;
diff --git a/tiovx/source/platform/os/win32/tivx_task.c b/tiovx/source/platform/os/win32/tivx_task.c
index e13771ca..4ce11cc6 100644
--- a/tiovx/source/platform/os/win32/tivx_task.c
+++ b/tiovx/source/platform/os/win32/tivx_task.c
@@ -143,6 +143,11 @@ vx_status tivxTaskCreate(tivx_task *task, tivx_task_create_params_t *params)
return (status);
}
+vx_status tivxTaskCreateRt(tivx_task *task, const tivx_task_create_params_t *params)
+{
+ return tivxTaskCreate(task, params);
+}
+
vx_status tivxTaskDelete(tivx_task *task)
{
vx_status status = (vx_status)VX_SUCCESS;
diff --git a/tiovx/source/platform/psdk_j7/rtos/tivx_task.c b/tiovx/source/platform/psdk_j7/rtos/tivx_task.c
index 3200b0ec..e93f7451 100644
--- a/tiovx/source/platform/psdk_j7/rtos/tivx_task.c
+++ b/tiovx/source/platform/psdk_j7/rtos/tivx_task.c
@@ -104,6 +104,11 @@ vx_status tivxTaskCreate(tivx_task *task, const tivx_task_create_params_t *param
return (status);
}
+vx_status tivxTaskCreateRt(tivx_task *task, const tivx_task_create_params_t *params)
+{
+ return tivxTaskCreate(task, params);
+}
+
vx_status tivxTaskDelete(tivx_task *task)
{
vx_status status = (vx_status)VX_SUCCESS;
--
2.34.1
