Fix nasa#1568, task affinity support vxrtp

src/os/vxworks-rtp/CMakeLists.txt

@@ -19,11 +19,11 @@ set(POSIX_BASE_SRCLIST
     ../posix/src/os-impl-idmap.c
     ../posix/src/os-impl-mutex.c
     ../posix/src/os-impl-queues.c
-    ../posix/src/os-impl-tasks.c
     ../posix/src/os-impl-timebase.c
-    src/os-impl-filesys.c     # VxWorks RTP specific implementation
-    src/os-impl-files.c       # VxWorks RTP specific implementation
-    ../portable/os-impl-pthread-no-affinity-np.c
+    src/os-impl-tasks.c              # VxWorks RTP specific implementation
+    src/os-impl-filesys.c            # VxWorks RTP specific implementation
+    src/os-impl-files.c              # VxWorks RTP specific implementation
+    ../portable/os-impl-posix-gettime-no-monotonic.c
 )
 
 # Use portable blocks for basic I/O
@@ -99,15 +99,25 @@ else()
     )
 endif ()
 
+if (OSAL_CONFIG_MAX_CPUS GREATER 1)
+    list(APPEND POSIX_IMPL_SRCLIST
+        src/os-impl-pthread-affinity.c #    use the real affinity code
+    )
+else()
+    list(APPEND POSIX_IMPL_SRCLIST
+        ../portable/os-impl-pthread-no-affinity-np.c
+    )
+endif()
+
 # Defines an OBJECT target named "osal_posix_impl" with selected source files
 add_library(osal_vxworks-rtp_impl OBJECT
     ${POSIX_BASE_SRCLIST}
     ${POSIX_IMPL_SRCLIST}
 )
 
 target_include_directories(osal_vxworks-rtp_impl PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/../posix/inc
     ${CMAKE_CURRENT_SOURCE_DIR}/inc
+    ${CMAKE_CURRENT_SOURCE_DIR}/../posix/inc
 )
 target_compile_definitions(osal_public_api INTERFACE
     _POSIX_OS_

src/os/vxworks-rtp/inc/os-impl-taskaffinity.h

@@ -0,0 +1,44 @@
+/************************************************************************
+ * NASA Docket No. GSC-19,200-1, and identified as "cFS Draco"
+ *
+ * Copyright (c) 2023 United States Government as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License. You may obtain
+ * a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ ************************************************************************/
+
+/**
+ * \file
+ *
+ * \ingroup  vxworks
+ *
+ */
+
+#ifndef OS_IMPL_TASKAFFINITY_H
+#define OS_IMPL_TASKAFFINITY_H
+
+/* VxWorks Native Headers */
+#include <vxWorks.h>
+#include <taskLib.h>
+
+#include "common_types.h"
+
+/* Explicitly declare to avoid implicit declaration warnings */
+extern unsigned int vxCpuConfiguredGet(void);
+
+/* Define the function used by the OSAL initialization */
+static inline uint32 OS_TaskAffinity_Proc_Conf(void)
+{
+    return (uint32)vxCpuConfiguredGet();
+}
+
+#endif /* OS_IMPL_TASKAFFINITY_H */

src/os/vxworks-rtp/inc/os-impl-tasks.h

@@ -0,0 +1,54 @@
+/************************************************************************
+ * NASA Docket No. GSC-19,200-1, and identified as "cFS Draco"
+ *
+ * Copyright (c) 2023 United States Government as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License. You may obtain
+ * a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ ************************************************************************/
+
+/**
+ * \file
+ *
+ * \ingroup  posix
+ *
+ */
+
+#ifndef OS_IMPL_TASKS_H
+#define OS_IMPL_TASKS_H
+
+#include "os-shared-task.h"
+
+#include "osconfig.h"
+#include <pthread.h>
+#include <taskLib.h>
+
+typedef void *(*PthreadFuncPtr_t)(void *entry_arg);
+
+/*tasks */
+typedef struct
+{
+    pthread_t id;
+    TASK_ID   vxid;
+} OS_impl_task_internal_record_t;
+
+/* Tables where the OS object information is stored */
+extern OS_impl_task_internal_record_t OS_impl_task_table[OS_MAX_TASKS];
+
+int32 OS_Posix_InternalTaskCreate_Impl(pthread_t       *pthr,
+                                       osal_priority_t  priority,
+                                       osal_stackptr_t  stackptr,
+                                       size_t           stacksz,
+                                       PthreadFuncPtr_t entry,
+                                       void            *entry_arg);
+
+#endif /* OS_IMPL_TASKS_H */

src/os/vxworks-rtp/src/os-impl-pthread-affinity.c

@@ -0,0 +1,144 @@
+/************************************************************************
+ * NASA Docket No. GSC-19,200-1, and identified as "cFS Draco"
+ *
+ * Copyright (c) 2023 United States Government as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License. You may obtain
+ * a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ ************************************************************************/
+
+/**
+ * \file
+ *
+ * OSAL Task Affinity Implementation for VxWorks RTP
+ * This bridges the POSIX OSAL task structure with native VxWorks CPU Affinity APIs
+ */
+
+/****************************************************************************************
+                                    INCLUDE FILES
+ ***************************************************************************************/
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <time.h>
+
+/* POSIX thread support (needed for the OSAL internal records) */
+#include <pthread.h>
+
+/* Native VxWorks headers required for Task Affinity in RTP */
+#include <vxWorks.h>
+#include <cpuset.h>
+#include <taskLib.h>
+#include <vxCpuLib.h>
+#include <errnoLib.h>
+
+#include "os-impl-taskaffinity.h"
+#include "osapi-task-affinity.h"
+#include "os-impl-tasks.h"
+#include "os-shared-file.h"
+#include "os-shared-idmap.h"
+
+/****************************************************************************************
+                                 Task Affinity API
+ ***************************************************************************************/
+
+/*
+ * ----------------------------------------------------------------------
+ * The OS_TaskAffinityGetCoresConfigured_Impl()
+ * Returns the number of configured cores
+ * ----------------------------------------------------------------------
+ */
+uint32 OS_TaskAffinityGetCoresConfigured_Impl(void)
+{
+    return OS_TaskAffinity_Proc_Conf();
+}
+
+/*
+ * ----------------------------------------------------------------------
+ * The OS_TaskAffinitySetAffinity_Impl()
+ * Sets an affinity from cpuset to task with provided task_id
+ * ----------------------------------------------------------------------
+ */
+int32 OS_TaskAffinitySetAffinity_Impl(const OS_object_token_t *token, const OS_cpuset_t cpuset)
+{
+    cpuset_t                        local_cpuset;
+    OS_impl_task_internal_record_t *impl = OS_OBJECT_TABLE_GET(OS_impl_task_table, *token);
+    uint32                          i;
+    int32                           return_value;
+
+    /* Check if the thread has actually started and recorded its ID yet */
+    if (impl->vxid == 0 || impl->vxid == (TASK_ID)ERROR)
+    {
+        return OS_ERROR;
+    }
+
+    CPUSET_ZERO(local_cpuset);
+    for (i = 0; (i < OS_MAX_CPUS) && (i < OS_TaskAffinityGetCoresConfigured()); i++)
+    {
+        if (OS_CPUSET_ISSET(i, &cpuset))
+        {
+            CPUSET_SET(local_cpuset, i);
+        }
+    }
+
+    /* Pass the true native TASK_ID to VxWorks */
+    return_value = taskCpuAffinitySet(impl->vxid, local_cpuset);
+
+    if (return_value == 0)
+    {
+        return OS_SUCCESS;
+    }
+    else
+    {
+        return OS_ERROR;
+    }
+}
+
+/*
+ * ----------------------------------------------------------------------
+ * The OS_TaskAffinityGetAffinity_Impl() is an api call to get affinity from a task
+ * Writes affinity to cpuset from task with provided task_id
+ * ----------------------------------------------------------------------
+ */
+int32 OS_TaskAffinityGetAffinity_Impl(const OS_object_token_t *token, OS_cpuset_t *cpuset)
+{
+    cpuset_t                        local_cpuset;
+    OS_impl_task_internal_record_t *impl = OS_OBJECT_TABLE_GET(OS_impl_task_table, *token);
+    uint32                          i;
+    int32                           return_value;
+
+    /* Check if the thread has actually started and recorded its ID yet */
+    if (impl->vxid == 0 || impl->vxid == (TASK_ID)ERROR)
+    {
+        return OS_ERROR;
+    }
+
+    CPUSET_ZERO(local_cpuset);
+
+    /* Pass the true native TASK_ID to VxWorks */
+    return_value = taskCpuAffinityGet(impl->vxid, &local_cpuset);
+
+    if (return_value == 0)
+    {
+        OS_CPUSET_ZERO(cpuset);
+        for (i = 0; (i < OS_MAX_CPUS) && (i < OS_TaskAffinityGetCoresConfigured()); i++)
+        {
+            if (CPUSET_ISSET(local_cpuset, i))
+            {
+                OS_CPUSET_SET(i, cpuset);
+            }
+        }
+        return OS_SUCCESS;
+    }
+    return OS_ERROR;
+}