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>
@@ -631,6 +634,12 @@ mtapi_boolean_t embb_mtapi_scheduler_schedule_task(
 
   assert(MTAPI_NULL != node);
 
+#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;
@@ -692,6 +701,9 @@ mtapi_boolean_t embb_mtapi_scheduler_schedule_task(
         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
 };