Waking up a linux thread from a xenomai thread, without mode switch
julien.blanc at sprinte.eu
Fri Dec 14 14:16:29 CET 2018
Le vendredi 14 décembre 2018 à 12:07 +0100, Philippe Gerum a écrit :
> You could use non-rt Xenomai threads on the linux side with policies
> SCHED_FIFO+prio=0 or SCHED_WEAK, allowing the thread to issue
> Xenomai syscalls (such as waiting on a Cobalt sema4).
> But, since this would incur two mode switches for the caller - one to
> switch to primary, then a converse switch to relax when returning
> the blocking syscall - you certainly don't want to use that method in
> high-frequency loops, because this would be very costly CPU-wise.
Do you mean, using a third thread acting as a proxy, so that the
xenomai thread never leaves the primary domain ? This is something i
identified as a « possible solution », but yes, the overhead seems
pretty high. At this rate it may be cheaper to just use an active
waiting loop (in the linux domain) with a ~5ms period in the linux
domain, instead of waiting on a semaphore.
> Did you try the streaming output mode with MSG_MORE as illustrated in
> demo/posix/cobalt/xddp-stream.c? The streaming mode attempts to pack
> multiple messages from the rt-side into a single message delivered to
> the read() side, until the latter eventually resumes.
> IOW, if the rt-side is able to send N messages before the linux side
> eventually wakes up, then the latter will receive all the streamed
> output packed into a single read().
I don’t remember having tried that, thanks for the pointer.
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