Added global task queue.

mtapi_c/src/embb_mtapi_node_t.c

@@ -126,6 +126,12 @@ void mtapi_initialize(
           local_status = MTAPI_ERR_NODE_INITFAILED;
         }
 
+#ifdef EMBB_HARD_REALTIME
+         embb_mtapi_task_queue_initialize_with_capacity(
+           &node->global_task_queue,
+           node->attributes.max_tasks);
+#endif
+
         if (local_status == MTAPI_SUCCESS) {
           /* initialize scheduler for local node */
           node->scheduler = embb_mtapi_scheduler_new();
@@ -200,6 +206,9 @@ void mtapi_finalize(MTAPI_OUT mtapi_status_t* status) {
     }
 
     embb_atomic_destroy_int(&node->is_scheduler_running);
+#ifdef EMBB_HARD_REALTIME
+    embb_mtapi_task_queue_finalize(&node->global_task_queue);
+#endif
 
     /* free system instance */
     embb_mtapi_alloc_deallocate(node);

mtapi_c/src/embb_mtapi_node_t.h

@@ -32,6 +32,10 @@
 
 #include <embb_mtapi_log.h>
 
+#ifdef EMBB_HARD_REALTIME
+#include <embb_mtapi_task_queue_t.h>
+#endif /*EMBB_HARD_REALTIME*/
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -71,6 +75,9 @@ struct embb_mtapi_node_struct {
   embb_mtapi_queue_pool_t * queue_pool;
   embb_atomic_int is_scheduler_running;
   mtapi_affinity_t affinity_all;
+#ifdef EMBB_HARD_REALTIME
+  embb_mtapi_task_queue_t global_task_queue;
+#endif /*EMBB_HARD_REALTIME*/
 };
 
 #include <embb_mtapi_node_t_fwd.h>

mtapi_c/src/embb_mtapi_scheduler_t.c

@@ -37,6 +37,9 @@
 #include <embb_mtapi_thread_context_t.h>
 #include <embb_mtapi_task_context_t.h>
 #include <embb_mtapi_task_t.h>
+#ifdef EMBB_HARD_REALTIME
+#include <embb_mtapi_task_queue_t.h>
+#endif /*EMBB_HARD_REALTIME*/
 #include <embb_mtapi_action_t.h>
 #include <embb_mtapi_alloc.h>
 #include <embb_mtapi_queue_t.h>
@@ -631,67 +634,76 @@ mtapi_boolean_t embb_mtapi_scheduler_schedule_task(
 
   assert(MTAPI_NULL != node);
 
-  if (embb_mtapi_action_pool_is_handle_valid(
-    node->action_pool, task->action)) {
-    embb_mtapi_queue_t* local_queue = MTAPI_NULL;
-    /* fetch action and schedule */
-    embb_mtapi_action_t* local_action =
-      embb_mtapi_action_pool_get_storage_for_handle(
-      node->action_pool, task->action);
+#ifdef EMBB_HARD_REALTIME
+  if (scheduler->mode == GLOBAL_EDF) {
+    embb_mtapi_task_queue_push(&node->global_task_queue, task);
+    pushed = MTAPI_TRUE;
+  } else {
+#endif /*EMBB_HARD_REALTIME*/
+    if (embb_mtapi_action_pool_is_handle_valid(
+      node->action_pool, task->action)) {
+      embb_mtapi_queue_t* local_queue = MTAPI_NULL;
+      /* fetch action and schedule */
+      embb_mtapi_action_t* local_action =
+        embb_mtapi_action_pool_get_storage_for_handle(
+        node->action_pool, task->action);
 
-    mtapi_affinity_t affinity =
-      local_action->attributes.affinity & task->attributes.affinity;
+      mtapi_affinity_t affinity =
+        local_action->attributes.affinity & task->attributes.affinity;
 
-    /* check if task is running from an ordered queue */
-    if (embb_mtapi_queue_pool_is_handle_valid(node->queue_pool, task->queue)) {
-      local_queue = embb_mtapi_queue_pool_get_storage_for_handle(
-        node->queue_pool, task->queue);
-      if (local_queue->attributes.ordered) {
-        /* yes, modify affinity accordingly */
-        affinity = local_queue->ordered_affinity;
+      /* check if task is running from an ordered queue */
+      if (embb_mtapi_queue_pool_is_handle_valid(node->queue_pool, task->queue)) {
+        local_queue = embb_mtapi_queue_pool_get_storage_for_handle(
+          node->queue_pool, task->queue);
+        if (local_queue->attributes.ordered) {
+          /* yes, modify affinity accordingly */
+          affinity = local_queue->ordered_affinity;
+        }
       }
-    }
 
-    /* check affinity */
-    if (affinity == 0) {
-      affinity = node->affinity_all;
-    }
-
-    /* one more task in flight for this action */
-    embb_atomic_fetch_and_add_int(&local_action->num_tasks, 1);
+      /* check affinity */
+      if (affinity == 0) {
+        affinity = node->affinity_all;
+      }
 
-    if (affinity == node->affinity_all) {
-      /* no affinity restrictions, schedule for stealing */
-      pushed = embb_mtapi_task_queue_push(
-        scheduler->worker_contexts[ii].queue[task->attributes.priority],
-        task);
-    } else {
-      mtapi_status_t affinity_status;
-
-      /* affinity is restricted, check and adapt scheduling target */
-      ii = (mtapi_uint_t)embb_atomic_fetch_and_add_int(
-        &scheduler->affine_task_counter, 1);
-      while (MTAPI_FALSE == mtapi_affinity_get(
-        &affinity, ii, &affinity_status)) {
-        ii = (ii + 1) % scheduler->worker_count;
+      /* one more task in flight for this action */
+      embb_atomic_fetch_and_add_int(&local_action->num_tasks, 1);
+
+      if (affinity == node->affinity_all) {
+        /* no affinity restrictions, schedule for stealing */
+        pushed = embb_mtapi_task_queue_push(
+          scheduler->worker_contexts[ii].queue[task->attributes.priority],
+          task);
+      } else {
+        mtapi_status_t affinity_status;
+
+        /* affinity is restricted, check and adapt scheduling target */
+        ii = (mtapi_uint_t)embb_atomic_fetch_and_add_int(
+          &scheduler->affine_task_counter, 1);
+        while (MTAPI_FALSE == mtapi_affinity_get(
+          &affinity, ii, &affinity_status)) {
+          ii = (ii + 1) % scheduler->worker_count;
+        }
+        /* schedule into private queue to disable stealing */
+        pushed = embb_mtapi_task_queue_push(
+          scheduler->worker_contexts[ii].private_queue[task->attributes.priority],
+          task);
       }
-      /* schedule into private queue to disable stealing */
-      pushed = embb_mtapi_task_queue_push(
-        scheduler->worker_contexts[ii].private_queue[task->attributes.priority],
-        task);
-    }
 
-    if (pushed) {
-      /* signal the worker thread a task was pushed to */
-      if (embb_atomic_load_int(&scheduler->worker_contexts[ii].is_sleeping)) {
-        embb_condition_notify_one(
-          &scheduler->worker_contexts[ii].work_available);
+      if (pushed) {
+        /* signal the worker thread a task was pushed to */
+        if (embb_atomic_load_int(&scheduler->worker_contexts[ii].is_sleeping)) {
+          embb_condition_notify_one(
+            &scheduler->worker_contexts[ii].work_available);
+        }
+      } else {
+        /* task could not be launched */
+        embb_atomic_fetch_and_add_int(&local_action->num_tasks, -1);
       }
-    } else {
-      /* task could not be launched */
-      embb_atomic_fetch_and_add_int(&local_action->num_tasks, -1);
     }
+#ifdef EMBB_HARD_REALTIME
   }
+#endif /*EMBB_HARD_REALTIME*/
 
   return pushed;
 }

mtapi_c/src/embb_mtapi_scheduler_t.h

@@ -59,6 +59,10 @@ enum embb_mtapi_scheduler_mode_enum {
   WORK_STEAL_VHPF = 0,
   // Local First. Steal if all local queues are empty.
   WORK_STEAL_LF   = 1,
+#ifdef EMBB_HARD_REALTIME
+  // Global EDF. No work stealing
+  GLOBAL_EDF      = 2,
+#endif /*EMBB_HARD_REALTIME*/
 
   NUM_SCHEDULER_MODES
 };