Program Listing for File rttest.h

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// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// 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.

#ifndef RTTEST__RTTEST_H_
#define RTTEST__RTTEST_H_

#include <time.h>
#include <sched.h>
#include <stddef.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C"
{
#endif

// rttest can have one instance per thread!
struct rttest_params
{
  size_t iterations;
  struct timespec update_period;
  size_t sched_policy;
  int sched_priority;
  size_t stack_size;
  uint64_t prefault_dynamic_size;

  // TODO(dirk-thomas) currently this pointer is never deallocated or copied
  // so whatever value is being assigned must stay valid forever
  char * filename;
};

struct rttest_results
{
  // Max iteration that this result describes
  size_t iteration;
  int64_t min_latency;
  int64_t max_latency;
  double mean_latency;
  double latency_stddev;

  size_t minor_pagefaults;
  size_t major_pagefaults;
};

int rttest_read_args(int argc, char ** argv);

int rttest_init(
  size_t iterations, struct timespec update_period,
  size_t sched_policy, int sched_priority, size_t stack_size,
  uint64_t prefault_dynamic_size, char * filename);

int rttest_get_params(struct rttest_params * params);

int rttest_init_new_thread();

int rttest_spin(void * (*user_function)(void *), void * args);

// TODO(jacquelinekay) better signature for user function
int rttest_spin_period(
  void * (*user_function)(void *), void * args,
  const struct timespec * update_period, const size_t iterations);

int rttest_spin_once_period(
  void * (*user_function)(void *), void * args,
  const struct timespec * start_time,
  const struct timespec * update_period, const size_t i);

int rttest_spin_once(
  void * (*user_function)(void *), void * args,
  const struct timespec * start_time, const size_t i);

int rttest_lock_memory();

int rttest_prefault_stack_size(const size_t stack_size);

int rttest_prefault_stack();

int rttest_lock_and_prefault_dynamic();

int rttest_set_sched_priority(const size_t sched_priority, const int policy);

int rttest_set_thread_default_priority();

int rttest_get_next_rusage(size_t i);

int rttest_calculate_statistics(struct rttest_results * results);

int rttest_get_statistics(struct rttest_results * results);

int rttest_get_sample_at(const size_t iteration, int64_t * sample);

int rttest_write_results();

int rttest_write_results_file(char * filename);

int rttest_finish();

int rttest_running();

#ifdef __cplusplus
}
#endif

#endif  // RTTEST__RTTEST_H_