Tornado 2 2 and VxWorks 5 5

Tornado and VxWorks
Tornado and VxWorks

Tornado-VxWorks Architecture The Real-Time, Multitasking OS Intertask Synchronization and Communication The Project Facility The Debugging Tools The Networking Stack
Copyright Wind River Systems, Inc.
What is Tornado?
Real-Time, Multitasking OS
Development and Debugging Tools
Networking
Tornado Architecture - HW Target

Host
Registry
Target
Tool
VxWorks
Tool
Target Server Target Agent
Tool
The tools, registry, and target server can run on different hosts
Tornado Architecture - Simulator Target

Host
Registry Tool
VxWorks
Target Tool
Server
Target Agent
Tool
VxWorks runs as a process under the host OS The simulator architecture provides no emulation of instruction, native compilers are used
Copyright Wind River Systems, Inc. 5
Tornado and VxWorks

Tornado Architecture The Real-Time, Multitasking OS Intertask Synchronization and Communication The Project Facility The Debugging Tools The Networking Stack
What is a Task?
A task is a
Kernel object dynamically created at runtime Logical entity consisting of a Task Control Block (TCB) data structure and
stack space An independent thread of execution
A task is not a function

However, a special purpose function (typically designed with an endless
loop) is used for the tasks entry point
foo() {
for (;;) { waitForData( );/* Until external event occurs */ processData( ); }
Functions execute within the context of tasks The VxWorks routine taskSpawn() invokes the entry point function foo
and gives the task its thread of liveness

Creating a Task
Multitasking
Separate tasks are created to perform different system requirements

For example, data acquisition and data computation
Each task alternates between ready and waiting

A task manager (the multitasking kernel) is therefore required
VxWorks allows a task to wait for

A specified time delay (Delay)
An event such as an interrupt (Pend)
Task States
10
Multitasking Kernel
The wind kernel is that part of VxWorks which directly manages tasks
It allocates the CPU to tasks according to the VxWorks scheduling algorithm It uses Task Control Blocks (TCBs) to keep track of tasks
One per task Declared as WIND_TCB data structure in taskLib.h O.S. control information state, task priority, delay timer,breakpoint list, error status,I/O
redirections CPU Context Information PC, SP, CPU registers, FPU registers
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Kernel Operation
Scheduler
12
Multitasking Facilities
13
Tornado and VxWorks

14
Intertask synchronization
In a multitasking environment, facilities to achieve mutual synchronization are needed

Producer-consumer architecture
Client-server architecture
In VxWorks, intertask synchronization is achieved using

Binary Semaphores Message Queues Events Pipes
Some intertask synchronization facilities (queues and pipes) also enable data transmission (intertask communication)
Binary Semaphores
Binary semaphores exist in one of two states

Full (synchronizing event has occurred)
Empty (synchronizing event has not occurred)
Intertask synchronization is obtained by creating an empty, binary semaphore for the synchronizing event
The task waiting for the event calls semTake( ) and blocks until
the semaphore is given The task or interrupt service routine detecting the event calls semGive( ), which unblocks the waiting task
16
Message Queues
Message queues are kernel objects used for passing information between tasks
Message queues provide a FIFO buffer of messages

Task A Task B
The task waiting for the synchronization message calls msgQueueReceive( ) and blocks until a message is on the queue
The task sending the synchronization message calls msgQueueSend( ), which unblocks a pending task
Pipes
Pipes provide an alternative interface to the message queue facility in the VxWorks I/O system
Tasks block
When they read from an empty pipe, until data is available When they write to a full pipe, until there is space available
Similar to their use of message queues, interrupt service routines can write to a pipe, but cannot read from it
18
Events
VxWorks events are means of synchronization between

Tasks and tasks Interrupt service routines and tasks VxWorks objects (binary semaphores and message queues) and
tasks
Only tasks can receive events, whereas tasks, interrupt service routines or VxWorks objects can send events Events are synchronous in nature
The receiving task pends while waiting for the events to be sent
Events allow a task to wait simultaneously on multiple resources

For example, events can be sent by semaphores, message
queues and other tasks
19
Mutual Exclusion Semaphores
Mutually exclusive access to shared resources is provided in VxWorks by mutual-exclusion semaphores (mutexes) VxWorks mutexes are designed to address issues inherent to mutual exclusion, like
Priority inversion Deletion safety Recursive access to the shared resource Semaphore ownership
Each critical section of the code has to be protected with mutexes, by having a task
Take the mutex before accessing the code Give the mutex after having accessed it
20
Counting Semaphores
Counting semaphores are similar to binary semaphores, except that they keep track of the number of times the semaphore is given or taken
Every time the semaphore is given, the count is incremented Every time the semaphore is taken, the count is decremented When the count reaches zero, a task that tries to take the
semaphore is blocked
Counting semaphores are useful for guarding multiple copies of resources
21
Signals
Signals asynchronously alter the control flow of a task

An interrupt service routine or a task can send a signal to a task
The task which has received the signal will asynchronously
execute a signal handler The signal handler executes in the receiving tasks context and makes use of the tasks stack If no signal handler is installed, the received signal is ignored
Since signals are asynchronous in nature, they are more appropriate for error and exception handling than as a general-purpose intertask communication mechanism
22
Tornado and VxWorks

23
Projects
The project facility allows one to manage two project types

Bootable projects
To configure and build a VxWorks image Downloadable projects To build and download application modules to a running target
Projects can be grouped together in Workspaces For each project more than one build specification can be used
24
Bootable projects
Bootable projects are used to create a new, customized VxWorks image

The system image consists of all desired system modules linked
together in a single, non-relocatable object module with no unresolved external references The image can be customized by adding or removing VxWorks components from the Workspace GUI
A bootable project is created specifying

A BSP
A toolchain (GNU or Diab)
25
Downloadable Projects
Downloadable projects are used to create relocatable object modules that can be downloaded and dynamically linked to VxWorks
Module downloading and dynamic linking is performed by the
Target Server, which maintains a host-resident targets symbol table
Downloadable projects
Are created by specifying a toolchain GNU or Diab Allow on the fly development
Modules can iteratively be downloaded, tested and debugged
without rebooting the target system
26
Project Facility Workspace Window
3 Workspace window views
27
Tornado and VxWorks

28
Host-Resident Debugging Tools
WindShell Command Shell

Provides command-line based, interactive access to all run-time
facilities
Browser
System-object viewer, graphical companion to WindShell
CrossWind Debugger
Remote source-level debugger Extended version of the GNU source-level debugger (GDB)
WindView Software Logical Analyzer

Dynamic visualization tool
29
WindShell
WindShell allows one to

Access all VxWorks facilities by allowing calls to any VxWorks
routines For example, Spawning tasks Creating VxWorks objects like semaphores, message queues, and pipes Download object modules to the target system Perform assembly-level debugging Create and examine variables symbolically Examine and modify memory
30
WindShell
31
Browser

The browser monitors the state of a target It shows detailed information on

Tasks
VxWorks objects (semaphores, message queues, ...) Stack usage by all task on the target Target CPU usage by task
Object-module structure and symbols

Interrupt vectors
The displays are snapshots, which can be updated interactively

Alternatively, the Browser can be configured to automatically
update its display at specified intervals
32
Browser
33
CrossWind
CrossWind is a source level, graphical, debugging frontend using an enhanced version of GDB as its debugging engine It allows two debugging strategies
Task mode debugging One task runs under debug control, while other tasks are not
affected CrossWind can either Attach to a running task, or Start a new task under debugger control System mode debugging Whenever a task hits a breakpoint, the whole system stops This is useful to debug tasks, interrupt service routines and prekernel execution
CrossWind
35
WindView 2.2
WindView allows one to study dynamic interactions of all the elements of complex, real-time systems
36
WindView 2.2
The WindView graph provides manageable access to important application information
WindView allows
Scrolling the information forward and backward in time Zooming in/out Tailoring the display to only focus on the tasks and events of
interest Setting locks on certain events and searching for their successive occurrences
37
WindView 2.2 Example
38
Problem Solving with WindView 2.2
WindView allows to
Detect race conditions, deadlocks, CPU starvation and other
problems related to task interaction Determine application responsiveness and performance See cyclic patterns in application behavior Conduct post-mortem analysis of failed systems Detect memory leaks
39
Tornado and VxWorks

40
VxWorks Network Components

Target NFS server RPC netDrv rlogin telnet Application layer rsh
ftp
zbuf
Sockets
Application programming interface
TCP IP
MUX Ethernet PPP
UDP
Transport layer
Network layer
Shared Memory Network
Link layer
41
Shared-Memory Backplane Network
This allows multiple processors to communicate over their common backplane as if they were communicating over a network by using a standard network driver
host
Ethernet
vx3
vx2
vx1
Shared-Memory Network
Backplane (e.g. VME, PCI)

MUX The Network Driver Interface
This interface decouples the link layer and the network layer
The network protocol does not need to be modified when adding
new network dirvers A new network protocol can be added without modifying the existing MUX-based network driver interfaces
43
TCP/IP Protocol Suite
Based on the 4.4 BSD TCP/IP release, the TCP/IP protocol suite comprises
UDP User Datagram Protocol Low-overhead delivery mechanism of datagrams, used by
several applications like BOOTP, DHCP, DNS, TFTP, ... TCP Transmission Control Protocol Reliable, end-to-end transmission mechanism, used by Telnet, Rlogin, FTP, ... IP Internet Protocol Hop-by-hop protocol to transmit datagrams ICMP Internet Control Messagge Protocol Reports unexpected events in data transfer, used by ping IGMP Internet Group Management Protocol Used to support multicasting
Sockets
Sockets allow processes to communicate within a single CPU, across an Ethernet, across a backplane or across any connected combination of networks VxWorks provides
BSD Sockets Datagram Sockets (UDP)
Stream Sockets (TCP)

Raw Sockets Zbuf Sockets An alternative set of sockets based on a data abstraction called
zbuf, zero-copy buffer Applications can read and write BSD sockets without copying data between application buffers and network buffers
Remote Access Applications
RSH Remote Command Execution

Allows a VxWorks application to run commands on a remote
system and receive the command results on standard output and error over socket connection Only the client side implementation is provided A server running on the remote system is assumed
FTP File Transfer Protocol

Both client and server applications are provided
NFS Network File System

Server component A target running VxWorks act as a file server for any system
that runs an NFS client Client component A target running VxWorks can mount a remote file system
Remote Access Applications (contd)
TFTP Trivial File Transfer Protocol

Client and Server applications are provided Unlike FTP or RSH, TFTP does not require any authentication
Rlogin Remote Login

On a VxWorks terminal, rlogin( ) gives users the ability to log in to
remote systems on the network The remote login daemon, rlogind( ), allows remote users to log in to VxWorks
Telnet
The server application only is provided
RPC Remote procedure call

RPC implements a client-server model of task interaction A client requests a remote service from a server and waits for a
reply
DNS and SNTP
DNS Domain Name System

DNS is a distributed database used by TCP/IP applications that
maps hostnames to IP addresses
SNTP Simple Network Time Protocol

Client and server components are provided
The client is normally used to maintain its system internal clock
accuracy based on time values reported by one or more servers The server provides time information to other systems
48
BOOTP Bootstrap Protocol
The BOOTP server

Retrieves boot information from the Bootp Database (bootptab)
Supplies an Internet host with an IP address and related
configuration information The IP address is permanently assigned
The BOOTP client

Uses broadcasts to discover an appropriate server
Lets a target retrieve a set of boot parameters like an IP address
and a filename of the bootable image

Both client and server components are provided BOOTP is implemented on top of UDP
49
DHCP Dynamic Host Configuration Protocol
Like BOOTP, DHCP allows the permanent allocation of configuration parameters to specific clients
However, DHCP also supports the assignment of a network address for a finite lease period VxWorks includes a DHCP client, server, and relay agent The client can retrieve one or more sets of configuration parameters from either a DHCP or BOOTP server The server can process both BOOTP and DHCP messages The DHCP relay agent provides forwarding of DHCP and BOOTP messages across subnet boundaries
50
IP Routing
If the destination is directly connected to the sender (e.g., a point-to-point link) or on a shared network (e.g., Ethernet), then IP datagrams are sent directly to the destination
Otherwise, the sender sends the IP datagrams to a default router,
and lets the router deliver them to destination
Each router maintains a routing table, which is used to deliver the IP datagrams to either
A local IP address, for a direct route, or The next-hop router IP address, for an indirect route
51
Dynamic Routing Protocols
Dynamic routing occurs when routers talk to adjacent routers, informing each other of what network each router is connected to Entries in the routing tables change dynamically as routes change over time The Routing Information Protocol (RIP) is provided with VxWorks
This is intended for small to medium-sized networks The longest path must be less than 16 hops It uses a distance-vector protocol It contains a vector of distances as the hop count RIP version 1 and 2 are supported
52
Summary
Tornados three components

VxWorks, real-time, multitasking operating system
Priority-based, preemptive scheduling algorithm

Intertask synchronization and communication services Project facility and debugging tools Bootable and downloadable projects
Networking
Connects hosts and targets during development and
debugging TCP/IP stack Rich set of network applications and protocols
53
References
Manuals available either in the Tornado on-line help, or via the Wind River Bookstore at: www.windriver.com/windsurf/bookstore
Tornado Users Guide WindView Users Guide and Users Reference VxWorks Programmers Guide
VxWorks OS Libraries
VxWorks Network Programmers Guide
54

Tornado 2 2 and VxWorks 5 5

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Tornado and VxWorks

Tornado and VxWorks

Copyright Wind River Systems, Inc.

Development and Debugging Tools

Copyright Wind River Systems, Inc.

Tornado Architecture - HW Target

Copyright Wind River Systems, Inc.

Tornado Architecture - Simulator Target

Tornado and VxWorks

Copyright Wind River Systems, Inc.

stack space An independent thread of execution

A task is not a function

loop) is used for the tasks entry point

for (;;) { waitForData( );/* Until external event occurs */ processData( ); }

and gives the task its thread of liveness

Copyright Wind River Systems, Inc.

Separate tasks are created to perform different system requirements

Each task alternates between ready and waiting

VxWorks allows a task to wait for

An event such as an interrupt (Pend)

Copyright Wind River Systems, Inc.

Copyright Wind River Systems, Inc.

Copyright Wind River Systems, Inc.

Copyright Wind River Systems, Inc.

Copyright Wind River Systems, Inc.

Tornado and VxWorks

Copyright Wind River Systems, Inc.

In a multitasking environment, facilities to achieve mutual synchronization are needed

In VxWorks, intertask synchronization is achieved using

Binary semaphores exist in one of two states

Empty (synchronizing event has not occurred)

Copyright Wind River Systems, Inc.

Message queues provide a FIFO buffer of messages

Copyright Wind River Systems, Inc.

VxWorks events are means of synchronization between

Events allow a task to wait simultaneously on multiple resources

queues and other tasks

Copyright Wind River Systems, Inc.

Mutual Exclusion Semaphores

Copyright Wind River Systems, Inc.

Counting semaphores are useful for guarding multiple copies of resources

Copyright Wind River Systems, Inc.

Signals asynchronously alter the control flow of a task

The task which has received the signal will asynchronously

Copyright Wind River Systems, Inc.

Tornado and VxWorks

Copyright Wind River Systems, Inc.

The project facility allows one to manage two project types

Copyright Wind River Systems, Inc.

Bootable projects are used to create a new, customized VxWorks image

A bootable project is created specifying

A toolchain (GNU or Diab)

Copyright Wind River Systems, Inc.

Target Server, which maintains a host-resident targets symbol table

Modules can iteratively be downloaded, tested and debugged

without rebooting the target system

Copyright Wind River Systems, Inc.

Project Facility Workspace Window

3 Workspace window views

Copyright Wind River Systems, Inc.

Tornado and VxWorks

Copyright Wind River Systems, Inc.

Host-Resident Debugging Tools