Add RT scheduler tracking
This interacts with event loops nicely, both in simulation and in the
real system. This gives us tools to enforce that certain pieces of code
are run in a RT world, and others are not.
Future work will be to enforce that Malloc is not called while realtime.
Change-Id: I3ce3dc287e25390095bac34aed4888434a82f06e
diff --git a/aos/events/event_loop_param_test.cc b/aos/events/event_loop_param_test.cc
index 248dcd3..d92927b 100644
--- a/aos/events/event_loop_param_test.cc
+++ b/aos/events/event_loop_param_test.cc
@@ -5,6 +5,7 @@
#include <unordered_set>
#include "aos/flatbuffer_merge.h"
+#include "aos/realtime.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
@@ -1949,6 +1950,120 @@
aos::Sender<TestMessage> sender = loop1->MakeSender<TestMessage>("/test");
}
+// Tests that a non-realtime event loop timer is marked non-realtime.
+TEST_P(AbstractEventLoopTest, NonRealtimeEventLoopTimer) {
+ auto loop1 = MakePrimary();
+
+ // Add a timer to actually quit.
+ auto test_timer = loop1->AddTimer([this]() {
+ CheckNotRealtime();
+ this->Exit();
+ });
+
+ loop1->OnRun([&test_timer, &loop1]() {
+ CheckNotRealtime();
+ test_timer->Setup(loop1->monotonic_now(), ::std::chrono::milliseconds(100));
+ });
+
+ Run();
+}
+
+// Tests that a realtime event loop timer is marked realtime.
+TEST_P(AbstractEventLoopTest, RealtimeEventLoopTimer) {
+ auto loop1 = MakePrimary();
+
+ loop1->SetRuntimeRealtimePriority(1);
+
+ // Add a timer to actually quit.
+ auto test_timer = loop1->AddTimer([this]() {
+ CheckRealtime();
+ this->Exit();
+ });
+
+ loop1->OnRun([&test_timer, &loop1]() {
+ CheckRealtime();
+ test_timer->Setup(loop1->monotonic_now(), ::std::chrono::milliseconds(100));
+ });
+
+ Run();
+}
+
+// Tests that a non-realtime event loop phased loop is marked non-realtime.
+TEST_P(AbstractEventLoopTest, NonRealtimeEventLoopPhasedLoop) {
+ auto loop1 = MakePrimary();
+
+ // Add a timer to actually quit.
+ loop1->AddPhasedLoop(
+ [this](int) {
+ CheckNotRealtime();
+ this->Exit();
+ },
+ chrono::seconds(1), chrono::seconds(0));
+
+ Run();
+}
+
+// Tests that a realtime event loop phased loop is marked realtime.
+TEST_P(AbstractEventLoopTest, RealtimeEventLoopPhasedLoop) {
+ auto loop1 = MakePrimary();
+
+ loop1->SetRuntimeRealtimePriority(1);
+
+ // Add a timer to actually quit.
+ loop1->AddPhasedLoop(
+ [this](int) {
+ CheckRealtime();
+ this->Exit();
+ },
+ chrono::seconds(1), chrono::seconds(0));
+
+ Run();
+}
+
+// Tests that a non-realtime event loop watcher is marked non-realtime.
+TEST_P(AbstractEventLoopTest, NonRealtimeEventLoopWatcher) {
+ auto loop1 = MakePrimary();
+ auto loop2 = Make();
+
+ aos::Sender<TestMessage> sender = loop2->MakeSender<TestMessage>("/test");
+
+ loop1->OnRun([&]() {
+ aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+ TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+ ASSERT_TRUE(msg.Send(builder.Finish()));
+ });
+
+ loop1->MakeWatcher("/test", [&](const TestMessage &) {
+ CheckNotRealtime();
+ this->Exit();
+ });
+
+ Run();
+}
+
+// Tests that a realtime event loop watcher is marked realtime.
+TEST_P(AbstractEventLoopTest, RealtimeEventLoopWatcher) {
+ auto loop1 = MakePrimary();
+ auto loop2 = Make();
+
+ loop1->SetRuntimeRealtimePriority(1);
+
+ aos::Sender<TestMessage> sender = loop2->MakeSender<TestMessage>("/test");
+
+ loop1->OnRun([&]() {
+ aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+ TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+ ASSERT_TRUE(msg.Send(builder.Finish()));
+ });
+
+ loop1->MakeWatcher("/test", [&](const TestMessage &) {
+ CheckRealtime();
+ this->Exit();
+ });
+
+ Run();
+}
+
// Tests that watchers fail when created on the wrong node.
TEST_P(AbstractEventLoopDeathTest, NodeWatcher) {
EnableNodes("them");