Squashed commit of the sb-vbs branch.

Includes the SD-VBS benchmarks modified to:
- Use libextra to loop as realtime jobs
- Preallocate memory before starting their main computation
- Accept input via stdin instead of via argc

Does not include the SD-VBS matlab code.

Fixes libextra execution in LITMUS^RT.

1 files changed, 479 insertions, 0 deletions

diff --git a/SD-VBS/common/c/extra.h b/SD-VBS/common/c/extra.h
new file mode 100644
index 0000000..8c67b33
--- /dev/null
+++ b/SD-VBS/common/c/extra.h
@@ -0,0 +1,479 @@
+/**
+ * Copyright 2019 Sims Hill Osborne and 2020 Joshua Bakita
+ *
+ * This header provides facilities by which to separably run and time TACLeBench
+ * To use this for paired task timing, define PAIRED (pass CFLAGS=-DPAIRED to make)
+ **/
+#define _GNU_SOURCE
+#include <fcntl.h>     // For O_CREAT and O_RDWR
+#include <sched.h>     // For sched_yield()
+#include <semaphore.h> // For sem_{open, post, wait}()
+#include <stdio.h>
+#include <stdlib.h>    // For exit()
+#include <string.h>    // For strlen()
+#include <sys/mman.h>  // For mlockall()
+#include <unistd.h>    // For ftruncate()
+#include <time.h>
+
+// This is only visible if _GNU_SOURCE is defined, and that define does not
+// come along to places where this file is included. Address this by manually
+// forcing it into the global namespace.
+extern int sched_getcpu();
+
+// These constants correspond to the imx6q-sabredb platform
+#define LINE_SIZE 32
+#define L2_SIZE 16*2048*32
+
+#if __arm__
+#include <unistd.h>
+#include <sys/syscall.h>
+#endif
+
+#define LITMUS 1
+#define MC2 0
+#define MMDC_PROF 0
+
+#if LITMUS
+#include <litmus.h>
+#endif
+
+#if MMDC_PROF
+#include  "/media/speedy/litmus/tools/mmdc/mmdc.h"
+#endif
+
+#if LITMUS
+#define SET_UP LOAD_PARAMS SETUP_LITMUS
+#else
+#define SET_UP LOAD_PARAMS
+#endif
+
+#if MMDC_PROF
+#define LOAD_PARAMS LOAD_PARAMS_ITRL SETUP_MMDC
+#else
+#define LOAD_PARAMS LOAD_PARAMS_ITRL
+#endif
+
+// Store state globally so that the job can be outside main()
+// Arrays use float as a comprimise between overflow and size
+// Paired arrays use long longs as precision is more important for those times
+#ifdef PAIRED
+long long *_rt_start_time;
+long long *_rt_end_time;
+#else
+float *_rt_exec_time;
+#endif
+#if MMDC_PERF
+float *_rt_mmdc_read;
+float *_rt_mmdc_write;
+#endif
+long _rt_jobs_complete;
+long _rt_max_jobs;
+int _rt_core;
+int _rt_will_output;
+struct timespec _rt_start, _rt_end;
+
+char *_rt_run_id;
+char *_rt_our_prog_name;
+char *_rt_other_prog_name;
+char *_rt_other_core;
+#define _RT_FILENAME_LEN 64
+#define _BILLION (1000*1000*1000)
+#ifdef PAIRED
+char *_rt_barrier;
+sem_t *_rt_first_sem, *_rt_second_sem;
+int _rt_lock_id;
+#endif
+
+static void _rt_load_params_itrl(int argc, char **argv) {
+#ifdef PAIRED
+    if (argc != 8) {
+        fprintf(stderr, "Usage: %s <name> <loops> <my core> <other core> <other name> <runID> <lockID>", argv[0]);
+        fprintf(stderr, " <name> string for logging. Name of this task.\n");
+        fprintf(stderr, " <loops> integer number of iterations. -1 for infinite.\n");
+        fprintf(stderr, " <my core> UNUSED. Core is now auto-detected.\n");
+        fprintf(stderr, " <other core> integer for logging. Core of paired task.\n");
+        fprintf(stderr, " <other name> string for logging. Name of paired task.\n");
+        fprintf(stderr, " <runID> string to append with .txt to yield output file name.\n");
+        fprintf(stderr, " <lockID> 1 to indicate this is pair member 1, otherwise pair member 2.\n");
+        exit(1);
+    }
+#else
+    if (argc != 6) {
+        fprintf(stderr, "Usage: %s <name> <loops> <my core> <runID> <save results?>\n", argv[0]);
+        fprintf(stderr, " <name> string for logging. Name of this task.\n");
+        fprintf(stderr, " <loops> integer number of iterations. -1 for infinite.\n");
+        fprintf(stderr, " <my core> UNUSED. Core is now auto-detected.\n");
+        fprintf(stderr, " <runID> string to append with .txt to yield output file name.\n");
+        fprintf(stderr, " <save results?> 1 to save results, 0 to discard.\n");
+        exit(1);
+    }
+#endif
+    _rt_our_prog_name = argv[1];
+    _rt_max_jobs = atol(argv[2]);
+    _rt_core = sched_getcpu();
+#ifdef PAIRED
+    _rt_other_core = argv[4];
+    _rt_other_prog_name = argv[5];
+    _rt_run_id = argv[6];
+    _rt_lock_id = atoi(argv[7]);
+    // The paired version doesn't support disabling output (legacy compatibility)
+    _rt_will_output = 1;
+#else
+    _rt_other_core = "none";
+    _rt_other_prog_name = "none";
+    _rt_run_id = argv[4];
+    _rt_will_output = atoi(argv[5]);
+#endif /* PAIRED */
+    if (_rt_max_jobs < 0 && _rt_will_output != 0) {
+        fprintf(stderr, "Infinite loops only supported when _rt_will_output is disabled!\n");
+        exit(1);
+    }
+    if (strlen(_rt_run_id) + 5 > _RT_FILENAME_LEN) {
+        fprintf(stderr, "Run ID is too large! Keep it to less than %d characters.\n", _RT_FILENAME_LEN);
+        exit(1);
+    }
+#ifdef PAIRED
+    _rt_start_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(long long));
+    _rt_end_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(long long));
+    if (!_rt_end_time || !_rt_start_time) {
+        perror("Unable to allocate buffers for execution times");
+        exit(1);
+    }
+    _rt_first_sem = sem_open("/_libextra_first_sem", O_CREAT, 644, 0);
+    _rt_second_sem = sem_open("/_libextra_second_sem", O_CREAT, 644, 0);
+    if (_rt_first_sem == SEM_FAILED || _rt_second_sem == SEM_FAILED) {
+        perror("Error while creating semaphores");
+        exit(1);
+    }
+    int barrier_file = shm_open("/_libextra_barrier", O_CREAT | O_RDWR, 644);
+    if (barrier_file == -1) {
+        perror("Error while creating shared memory for barrier synchronization");
+        exit(1);
+    }
+    if (ftruncate(barrier_file, 1) == -1) {
+        perror("Error while setting size of shared memory for barrier synchronization");
+        exit(1);
+    }
+    _rt_barrier = mmap(NULL, 1, PROT_WRITE, MAP_SHARED, barrier_file, 0);
+    if (_rt_barrier == MAP_FAILED) {
+        perror("Error while mapping shared memory for barrier synchronization");
+        exit(1);
+    }
+    *_rt_barrier = 0;
+#else
+    _rt_exec_time = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));
+    if (!_rt_exec_time) {
+        perror("Unable to allocate buffer for execution times");
+        exit(1);
+    }
+#endif /* PAIRED */
+    _rt_jobs_complete = 0;
+    mlockall(MCL_CURRENT || MCL_FUTURE);
+}
+#define LOAD_PARAMS_ITRL _rt_load_params_itrl(argc, argv);
+
+#define SETUP_MMDC \
+    _rt_mmdc_read = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));\
+    _rt_mmdc_write = calloc(_rt_max_jobs * _rt_will_output, sizeof(float));\
+    if (!_rt_mmdc_read || !_rt_mmdc_write) {\
+        perror("Unable to allocate buffer for MMDC data");\
+        exit(1);\
+    }\
+    MMDC_PROFILE_RES_t mmdc_res;\
+    memset(&mmdc_res, 0, sizeof(MMDC_PROFILE_RES_t));\
+    int fd = open("/dev/mem", O_RDWR, 0);\
+    if (fd < 0) {\
+        perror("Unable to open /dev/mem");\
+        exit(1);\
+    }\
+    pMMDC_t mmdc = mmap(NULL, 0x4000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, MMDC_P0_IPS_BASE_ADDR);\
+    if (mmdc == MAP_FAILED) {\
+        perror("Unable to map MMDC address space");\
+        exit(1);\
+    }\
+    mmdc->madpcr1 = axi_arm1;\
+    msync(&(mmdc->madpcr1),4,MS_SYNC);
+
+#define SETUP_LITMUS \
+    unsigned int wait = 0; \
+    if (be_migrate_to_domain(_rt_core) < 0) { \
+        perror("Unable to migrate to specified CPU"); \
+        exit(1); \
+    } \
+    struct rt_task rt_param; \
+    init_rt_task_param(&rt_param); \
+    /* Supposedly the next two parameters are irrelevant when reservations are enabled, but I'm leaving them anyway... */ \
+    rt_param.exec_cost = ms2ns(999); \
+    rt_param.period = ms2ns(1000); \
+    rt_param.priority = LITMUS_HIGHEST_PRIORITY; \
+    rt_param.cls = RT_CLASS_HARD; \
+    rt_param.release_policy = TASK_PERIODIC; \
+    rt_param.budget_policy = NO_ENFORCEMENT; \
+    rt_param.cpu = _rt_core; \
+    if (set_rt_task_param(gettid(), &rt_param) < 0) { \
+        perror("Unable to set real-time parameters"); \
+        exit(1); \
+    } \
+    if (init_litmus() != 0) { \
+        perror("init_litmus failed"); \
+        exit(1); \
+    } \
+    MC2_SETUP \
+    if (task_mode(LITMUS_RT_TASK) != 0) { \
+        perror("Unable to become real-time task"); \
+        exit(1); \
+    } \
+    if (wait && wait_for_ts_release() != 0) { \
+        perror("Unable to wait for taskset release"); \
+        exit(1); \
+    }
+
+#if MC2
+#define MC2_SETUP \
+
+    set_page_color(rt_param.cpu);
+#else
+#define MC2_SETUP
+#endif
+
+#define CLEANUP_LITMUS \
+    if (task_mode(BACKGROUND_TASK) != 0) { \
+        perror("Unable to become a real-time task"); \
+        exit(1); \
+    } \
+
+#if __arm__
+// On ARM, manually flush the cache
+#define FLUSH_CACHES \
+    volatile uint8_t buffer[L2_SIZE * 4]; \
+    for (uint32_t j = 0; j < 4; j++) \
+        for (uint32_t i = 0; i < L2_SIZE * 4; i += LINE_SIZE) \
+            buffer[i]++;
+#else
+// On x86 call the wbinvld instruction (it's in a kernel module due to it being ring-0)
+#define FLUSH_CACHES \
+    FILE *fp = fopen("/proc/wbinvd", "r");\
+    if (fp == NULL) {\
+        perror("Cache flush module interface cannot be opened");\
+        exit(1);\
+    }\
+    char dummy;\
+    if (fread(&dummy, 1, 1, fp) == 0) {\
+        perror("Unable to access cache flush module interface");\
+        exit(1);\
+    }\
+    fclose(fp);
+#endif
+
+// This semaphore-based synchronization is from Sims
+#define FIRST_UNLOCK \
+    if (_rt_lock_id == 1) {\
+        if (sem_post(_rt_second_sem) != 0) {\
+            perror("Unable to unlock second semaphore");\
+            exit(1);\
+        }\
+    } \
+    else {\
+        if (sem_post(_rt_first_sem) != 0) {\
+            perror("Unable to unlock first semaphore");\
+            exit(1);\
+        }\
+    } \
+
+#define FIRST_LOCK \
+    if (_rt_lock_id == 1) {\
+        if (sem_wait(_rt_first_sem) != 0) {\
+            perror("Unable to wait on first semaphore");\
+            exit(1);\
+        }\
+    }\
+    else {\
+        if (sem_wait(_rt_second_sem) != 0) {\
+            perror("Unable to wait on second semaphore");\
+            exit(1);\
+        }\
+    }
+
+// This ensures a very low difference between pair member start times
+#define BARRIER_SYNC \
+    if (__sync_bool_compare_and_swap(_rt_barrier, 0, 1)) {\
+        while (!__sync_bool_compare_and_swap(_rt_barrier, 0, 0)) {};\
+    }\
+    else {\
+        __sync_bool_compare_and_swap(_rt_barrier, 1, 0);\
+    }
+
+// Buffer timing result from a single job
+static void _rt_save_job_result() {
+    if (_rt_jobs_complete >= _rt_max_jobs) {
+        fprintf(stderr, "Max jobs setting too small! Trying to record job #%ld when we only have space for %ld jobs. Exiting...\n", _rt_jobs_complete, _rt_max_jobs);
+        exit(1);
+    }
+    if (_rt_jobs_complete > -1 && _rt_will_output) {
+#ifdef PAIRED
+        _rt_start_time[_rt_jobs_complete] = _rt_start.tv_sec;
+        _rt_start_time[_rt_jobs_complete] *= _BILLION;
+        _rt_start_time[_rt_jobs_complete] += _rt_start.tv_nsec;
+        _rt_end_time[_rt_jobs_complete] = _rt_end.tv_sec;
+        _rt_end_time[_rt_jobs_complete] *= _BILLION;
+        _rt_end_time[_rt_jobs_complete] += _rt_end.tv_nsec;
+#else
+        _rt_exec_time[_rt_jobs_complete] = _rt_end.tv_sec - _rt_start.tv_sec;
+        _rt_exec_time[_rt_jobs_complete] *= _BILLION;
+        _rt_exec_time[_rt_jobs_complete] += _rt_end.tv_nsec - _rt_start.tv_nsec;
+#endif /* PAIRED */
+#if MMDC_PROF
+        _rt_mmdc_read[_rt_jobs_complete] = mmdc_res.read_bytes;
+        _rt_mmdc_write[_rt_jobs_complete] = mmdc_res.write_bytes;
+#endif
+    }
+}
+
+// Save all buffered timing results to disk
+static void _rt_write_to_file() {
+    char fileName[_RT_FILENAME_LEN];
+    FILE *fp;
+    munlockall();
+    if (!_rt_will_output)
+        goto out;
+    strcpy(fileName, _rt_run_id);
+    strcat(fileName, ".txt");
+    fp = fopen(fileName, "a");
+    if (fp == NULL) {
+        perror("Unable to open output file");
+        exit(1);
+    }
+    // Baseline output uses a similar format with "none" for unused fields
+    for (int i = 0; i < _rt_jobs_complete; i++){
+        fprintf(fp, "%s %s %u %s %ld", _rt_our_prog_name, _rt_other_prog_name,
+            _rt_core, _rt_other_core, _rt_max_jobs);
+#ifdef PAIRED
+        // For unclear legacy reasons, paired tasks emit sec and ns separately
+        fprintf(fp, " %lld %lld %lld %lld",
+            _rt_start_time[i] / _BILLION, _rt_start_time[i] % _BILLION,
+            _rt_end_time[i] / _BILLION, _rt_end_time[i] % _BILLION);
+#else
+        fprintf(fp, " %.f", _rt_exec_time[i]);
+#endif /* PAIRED */
+        fprintf(fp, " %s %d %.f %.f\n",  _rt_run_id, i,
+#if MMDC_PROF
+            _rt_mmdc_read[i], _rt_mmdc_write[i]);
+#else
+            0.0, 0.0);
+#endif /* MMDC_PROF */
+    }
+    fclose(fp);
+out:
+#if LITMUS
+    CLEANUP_LITMUS
+#endif /* LITMUS */
+#ifdef PAIRED
+    munmap(_rt_barrier, 1);
+    shm_unlink("/_libextra_barrier");
+    sem_unlink("/_libextra_first_sem");
+    sem_unlink("/_libextra_second_sem");
+    free(_rt_start_time);
+    free(_rt_end_time);
+#else
+    free(_rt_exec_time);
+#endif /* PAIRED */
+#if MMDC_PROF
+    free(_rt_mmdc_read);
+    free(_rt_mmdc_write);
+#endif /* MMDC_PROF */
+}
+
+// Start a job
+static void _rt_start_loop() {
+#if LITMUS
+    if (sleep_next_period() != 0) {
+        perror("Unable to sleep for next period");
+    }
+#else
+    sched_yield();
+#endif /* LITMUS */
+#ifdef PAIRED
+    FIRST_UNLOCK
+    FIRST_LOCK
+#endif /* PAIRED */
+    FLUSH_CACHES
+#ifdef PAIRED
+    BARRIER_SYNC
+#endif /* PAIRED */
+#if MMDC_PROF
+    /* This disables profiling, resets the counters, clears the overflow bit, and enables profiling */
+    start_mmdc_profiling(mmdc);
+#endif /* MMDC_PROF */
+    clock_gettime(CLOCK_MONOTONIC, &_rt_start);
+}
+
+// Complete a job
+static void _rt_stop_loop() {
+    clock_gettime(CLOCK_MONOTONIC, &_rt_end);
+#if MMDC_PROF
+    /* This freezes the profiling and makes results available */
+    pause_mmdc_profiling(mmdc);
+    get_mmdc_profiling_results(mmdc, &mmdc_res);
+#endif /* MMDC_PROF */
+    _rt_save_job_result();
+    _rt_jobs_complete++;
+}
+
+/****** New API ******
+ * Intended structure:
+ *
+ * |int main(int argc, char **argv) {
+ * |  SET_UP
+ * |  ...
+ * |  for_each_job {
+ * |    tacleInit();
+ * |    tacleMain();
+ * |  }
+ * |  WRITE_TO_FILE
+ * |}
+ *
+ * The main() function must call its parameters argc and argv for SET_UP to be
+ * able to read them.
+ * Only SET_UP necessarily has to be in main().
+ *
+ * We use some niche C features, here's a quick explaination:
+ * 1. The && operator doesn't evaluate the right-hand side of the expression
+ *    unless the left side evaluated to true. We use this to only execute 
+ *    _rt_start_loop() when the loop will actually run.
+ * 2. The comma operator executes the first expression and then throws away the
+ *    result. We use this to call our void function from inside a comparison.
+ */
+#define for_each_job \
+    for (; _rt_jobs_complete < _rt_max_jobs && (_rt_start_loop(),1); \
+         _rt_stop_loop())
+
+/****** Legacy API ******
+ * Intended structure:
+ *
+ * |int main(int argc, char **argv) {
+ * |  SET_UP
+ * |  for (jobsComplete=0; jobsComplete<maxJobs; jobsComplete++){
+ * |    START_LOOP
+ * |    tacleInit();
+ * |    tacleMain();
+ * |    STOP_LOOP
+ * |  }
+ * |  WRITE_TO_FILE
+ * |  tacleReturn
+ * |}
+ *
+ * The main() function must call its parameters argc and argv for SET_UP to be
+ * able to read them.
+ */
+static int jobsComplete = 0;
+#define START_LOOP _rt_start_loop();
+#define STOP_LOOP _rt_stop_loop();
+#define WRITE_TO_FILE _rt_write_to_file();
+#define maxJobs _rt_max_jobs
+// Has been part of STOP_LOOP for quite some time
+#define SAVE_RESULTS \
+    #warning "The SAVE_RESULTS macro is deprecated and will soon be removed!";
+// Unclear if SLEEP is used anywhere.
+#define SLEEP \
+    #warning "The SLEEP macro is deprecated and may be removed!" \
+    nanosleep((const struct timespec[]){{0, 1000000}}, NULL);