Ticket #2795: patch.diff

cpukit/rtems/include/rtems/rtems/ratemon.h

@@ -22 +22 @@
 
 /* COPYRIGHT (c) 1989-2009, 2016.
  * On-Line Applications Research Corporation (OAR).
+ * Copyright (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
  *
  * The license and distribution terms for this file may be
  * found in the file LICENSE in this distribution or at
@@ -240 +241 @@
    * This field contains the statistics maintained for the period.
    */
   Rate_monotonic_Statistics               Statistics;
+
+  /**
+   * This field contains the number of postponed jobs. When the
+   * watchdog timeouts, this variable will be increased immediately.
+   */
+  uint32_t                                postponed_jobs;
+
+  /**
+   * This field contains the tick of the latest deadline decided
+   * by the period watchdog.
+   */
+  uint64_t                                latest_deadline;
 }   Rate_monotonic_Control;
 
 /**
@@ -403 +416 @@
   rtems_interval  length
 );
 
+/**
+ * @brief RTEMS Return the number of postponed jobs
+ *
+ * This is a helper function to return the number of postponed jobs by this
+ * given period. This number is only increased by the corresponding watchdog,
+ * and is decreased by RMS manager with the postponed job releasing.
+ *
+ * @param[in] id is the period id
+ *
+ * @retval This helper function returns the number of postponed jobs with 
+ * given period_id.
+ *
+ */
+uint32_t rtems_rate_monotonic_Postponed_num(
+  rtems_id        period_id
+);
+
 /**@}*/
 
 #ifdef __cplusplus

cpukit/rtems/include/rtems/rtems/ratemonimpl.h

@@ -9 +9 @@
 /*  COPYRIGHT (c) 1989-2008.
  *  On-Line Applications Research Corporation (OAR).
  *  Copyright (c) 2016 embedded brains GmbH.
+ *  Copyright (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
  *
  *  The license and distribution terms for this file may be
  *  found in the file LICENSE in this distribution or at
@@ -116 +117 @@
   Timestamp_Control            *cpu_since_last_period
 );
 
+/**
+ * @brief Renew the watchdog deadline
+ *
+ * This routine is prepared for the watchdog timeout to renew its deadline
+ * without releasing jobs.
+ */
+void _Rate_monotonic_Renew_deadline(
+  Rate_monotonic_Control *the_period,
+  Thread_Control         *owner,
+  ISR_lock_Context       *lock_context
+};
+
 void _Rate_monotonic_Restart(
   Rate_monotonic_Control *the_period,
   Thread_Control         *owner,

cpukit/rtems/src/ratemonperiod.c

@@ -9 +9 @@
  *  COPYRIGHT (c) 1989-2010.
  *  On-Line Applications Research Corporation (OAR).
  *  Copyright (c) 2016 embedded brains GmbH.
+ *  Copyright (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
  *
  *  The license and distribution terms for this file may be
  *  found in the file LICENSE in this distribution or at
@@ -63 +64 @@
   return true;
 }
 
+/* This funciton only releases the postponed jobs. */
+static void _Rate_monotonic_Release_postponedjob(
+  Rate_monotonic_Control *the_period,
+  Thread_Control         *owner,
+  rtems_interval          next_length,
+  ISR_lock_Context       *lock_context
+)
+{
+  Per_CPU_Control  *cpu_self;
+  cpu_self = _Thread_Dispatch_disable_critical( lock_context );
+  _Rate_monotonic_Release( owner, lock_context );
+
+  the_period->postponed_jobs -=1;
+  _Scheduler_Release_job( owner, the_period->latest_deadline );
+  _Thread_Dispatch_enable( cpu_self );
+}
+
 static void _Rate_monotonic_Release_job(
   Rate_monotonic_Control *the_period,
   Thread_Control         *owner,
@@ -93 +111 @@
   _Thread_Dispatch_enable( cpu_self );
 }
 
+void _Rate_monotonic_Renew_deadline(
+  Rate_monotonic_Control *the_period,
+  Thread_Control         *owner,
+  ISR_lock_Context       *lock_context
+)
+{
+  Per_CPU_Control *cpu_self;
+  uint64_t deadline;
+
+  cpu_self = _Thread_Dispatch_disable_critical( lock_context );
+  _Rate_monotonic_Release( owner, lock_context )l
+
+  _ISR_lock_ISR_disable( lock_context );
+  deadline = _Watchdog_Per_CPU_insert_relative(
+    &the_period->Timer,
+    cpu_self,
+    the_period->next_length
+  );
+  the_period->latest_deadline = deadline;
+  _ISR_lock_ISR_enable( lock_context );
+  _Thread_Dispatch_enable( cpu_self );
+
+}
+
 void _Rate_monotonic_Restart(
   Rate_monotonic_Control *the_period,
   Thread_Control         *owner,
@@ -113 +155 @@
   );
 }
 
+uint32_t rtems_rate_monotonic_Postponed_num(
+  rtems_id  period_id
+)
+{
+  Rate_monotonic_Control    *the_period;
+  ISR_lock_Context           lock_context;
+  Thread_Control            *owner;
+
+  the_period = _Rate_monotonic_Get( period_id, &lock_context );
+  _Assert(the_period != NULL);
+  uint32_t jobs = the_period->postponed_jobs;
+  owner = the_period->owner;
+  _Rate_monotonic_Release( owner, &lock_context );
+  return jobs;
+}
+
 static void _Rate_monotonic_Update_statistics(
   Rate_monotonic_Control    *the_period
 )
@@ -190 +248 @@
   ISR_lock_Context       *lock_context
 )
 {
+  /* Initialize the number of postponed job variable */
+  the_period->postponed_jobs = 0;
+
   the_period->state = RATE_MONOTONIC_ACTIVE;
   the_period->next_length = length;
   _Rate_monotonic_Restart( the_period, executing, lock_context );
@@ -241 +302 @@
   return RTEMS_SUCCESSFUL;
 }
 
+/**
+ * There are two possible cases: one is that the previous deadline is missed,
+ * the other is that the number of postponed jos is not 0, but the current
+ * deadline is still not expired, i.e., state = RATE_MONOTONIC_ACTIVE.
+ */
 static rtems_status_code _Rate_monotonic_Block_while_expired(
   Rate_monotonic_Control *the_period,
   rtems_interval          length,
@@ -248 +314 @@
   ISR_lock_Context       *lock_context
 )
 {
+  /**
+   * No matter the just finished job in time or not,
+   * it is in fact already missing its deadline.
+   */
+  the_period->state = RATE_MONOTONIC_EXPIRED;
   /*
    *  Update statistics from the concluding period
    */
@@ -256 +327 @@
   the_period->state = RATE_MONOTONIC_ACTIVE;
   the_period->next_length = length;
 
-  _Rate_monotonic_Release_job( the_period, executing, length, lock_context );
+  _Rate_monotonic_Release_postponedjob( the_period, executing, length, lock_context );
   return RTEMS_TIMEOUT;
 }
 
@@ -292 +363 @@
   } else {
     switch ( state ) {
       case RATE_MONOTONIC_ACTIVE:
-        status = _Rate_monotonic_Block_while_active(
-          the_period,
-          length,
-          executing,
-          &lock_context
-        );
+        if(the_period->postponed_jobs > 0){
+          status = _Rate_monotonic_Block_while_expired(
+            the_period,
+            length,
+            executing,
+            &lock_context
+          );
+        }else{
+          status = _Rate_monotonic_Block_while_active(
+            the_period,
+            length,
+            executing,
+            &lock_context
+          );
+        }
         break;
       case RATE_MONOTONIC_INACTIVE:
         status = _Rate_monotonic_Activate(
@@ -308 +388 @@
         );
         break;
       default:
+        /** 
+         * As now this period was already timeout, there must be at least one
+         * postponed job recorded by the watchdog. The one which exceeded
+         * the previous deadline"s" was just finished.        
+         */
         _Assert( state == RATE_MONOTONIC_EXPIRED );
         status = _Rate_monotonic_Block_while_expired(
           the_period,

cpukit/rtems/src/ratemontimeout.c

@@ -9 +9 @@
  *  COPYRIGHT (c) 1989-2009.
  *  On-Line Applications Research Corporation (OAR).
  *
+ *  Copyright (c) 2016, Kuan-Hsun Chen, TU Dortmund University (TUDo).
+ *
+ *
  *  The license and distribution terms for this file may be
  *  found in the file LICENSE in this distribution or at
  *  http://www.rtems.org/license/LICENSE.
@@ -62 +65 @@
       _Thread_Unblock( owner );
     }
   } else {
+    /**
+     * If the watchdog is timeout, it means there is an additional postponed
+     * job in the next period but it is not available to release now:
+     * Either the current task is still executed, or it is preempted by 
+     * other higher priority tasks.
+     */
+    the_period->postponed_jobs += 1;    
     the_period->state = RATE_MONOTONIC_EXPIRED;
-    _Rate_monotonic_Release( the_period, &lock_context );
+    _Rate_monotonic_Renew_deadline( the_period, owner, &lock_context );
   }
 }

testsuites/sptests/Makefile.am

@@ -36 +36 @@
 _SUBDIRS += spmutex01
 _SUBDIRS += spextensions01
 _SUBDIRS += spsysinit01
+_SUBDIRS += sprmsched01
 if HAS_SMP
 else
 _SUBDIRS += sp29

testsuites/sptests/configure.ac

@@ -230 +230 @@
 spprivenv01/Makefile
 spqreslib/Makefile
 spratemon_err01/Makefile
+sprmsched01/Makefile
 sprbtree01/Makefile
 spsem_err01/Makefile
 spsem_err02/Makefile

new file testsuites/sptests/sprmsched01/Makefile.am

@@ +1 @@
+
+rtems_tests_PROGRAMS = sprmsched01
+sprmsched01_SOURCES = init.c tasks.c system.h
+        
+dist_rtems_tests_DATA = sprmsched01.scn 
+dist_rtems_tests_DATA += sprmsched01.doc
+
+include $(RTEMS_ROOT)/make/custom/@RTEMS_BSP@.cfg
+include $(top_srcdir)/../automake/compile.am
+include $(top_srcdir)/../automake/leaf.am
+
+AM_CPPFLAGS += -I$(top_srcdir)/../support/include
+
+LINK_OBJS = $(sprmsched01_OBJECTS)
+LINK_LIBS = $(sprmsched01_LDLIBS)
+
+sprmsched01$(EXEEXT): $(sprmsched01_OBJECTS) $(sprmsched01_DEPENDENCIES)
+        @rm -f sprmsched01$(EXEEXT)
+        $(make-exe)
+
+include $(top_srcdir)/../automake/local.am

new file testsuites/sptests/sprmsched01/exampletask.c

@@ +1 @@
+/**
+ * @file sprmsched01/tasks.c
+ *
+ * @brief A heuristic example to demonstrate how the postponed jobs are handled.
+ *
+ * Given two tasks with implicit deadline. To force deadline misses, we reverse 
+ * the rate-monotonic priority assignment and only execute the highest priority 
+ * task twice. In the original implementation, no matter how many periods are 
+ * expired, RMS manager only releases a job with a shifted deadline assignment 
+ * in the watchdog.
+ *
+ * In more general real-time task model, e.g., soft real-time task, the postponed
+ * jobs are still required to be released when the task is available to execute.
+ */
+
+/*
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "system.h"
+
+/* CPU usage and Rate monotonic manger statistics */
+#include "rtems/cpuuse.h"
+
+/* Periods for the various tasks [ticks] */
+#define PERIOD_TASK_1          10000
+#define PERIOD_TASK_2          2000
+
+/* Task Id */
+#define ID_TASK_1           0
+#define ID_TASK_2               1
+
+/* Execution time for each task [ticks] */
+#define task_1_normal_et        6000
+#define task_2_normal_et        1000
+
+/**
+ * @brief Task 1 body
+ */
+rtems_task Task_1(
+  rtems_task_argument unused
+)
+{
+  rtems_status_code status;
+  rtems_name        period_name; 
+  rtems_id          RM_period;
+  rtems_id          selfid=rtems_task_self();
+  int               start, end;
+  int               tsk_counter = 0;
+
+  /*create period*/
+  period_name = rtems_build_name( 'P', 'E', 'R', '1' );
+  status = rtems_rate_monotonic_create( period_name, &RM_period );
+  if( RTEMS_SUCCESSFUL != status ) {
+    printf("RM failed with status: %d\n", status);
+    rtems_test_exit(0);
+  }
+
+  while( 1 ) {
+    status = rtems_rate_monotonic_period( RM_period,PERIOD_TASK_1);
+      /*......................*/
+    start = rtems_clock_get_ticks_since_boot();    
+    printf("Task 1 starts at tick %d.\n", start);
+    LOOP(task_1_normal_et,task_id);
+    end = rtems_clock_get_ticks_since_boot();
+    printf("                    Task 1 ends at tick %d.\n", end);
+    tsk_counter += 1;
+  }
+}
+
+/**
+ * @brief Task 2 body
+ */
+rtems_task Task_2(
+  rtems_task_argument unused
+)
+{
+  rtems_status_code status;
+  rtems_name        period_name; 
+  rtems_id          RM_period;
+  int               start, end;
+  int               tsk_counter = 0;
+
+  /*create period*/
+
+  period_name = rtems_build_name( 'P', 'E', 'R', '2' );
+  status = rtems_rate_monotonic_create( period_name, &RM_period );
+  if( RTEMS_SUCCESSFUL != status ) {
+    printf("RM failed with status: %d\n", status);
+    exit( 0 );
+  }
+
+  while( 1 ) {
+    status = rtems_rate_monotonic_period( RM_period, PERIOD_TASK_2);
+    if(tsk_counter == testnumber){        
+          rtems_rate_monotonic_report_statistics();
+          status = rtems_rate_monotonic_delete(RM_period);
+          if(status != RTEMS_SUCCESSFUL){
+                printf("BUG: Cannot delete the period 2\n");
+        rtems_test_exit(0);
+          }
+          /* The example is finished */
+      TEST_END();
+      rtems_test_exit(0);
+        }
+    start = rtems_clock_get_ticks_since_boot();
+    printf("Task 2 starts at tick %d.\n", start);
+    LOOP(task_2_normal_et,task_id);
+    end = rtems_clock_get_ticks_since_boot();
+    printf("                                    Job %d Task 2 ends at tick %d.\n", tsk_counter+1, end);
+    tsk_counter += 1;
+  }
+}
+

new file testsuites/sptests/sprmsched01/init.c

@@ +1 @@
+/**
+ * @file sprmsched01/init.c
+ *
+ * @brief A init task body for sprmsched01 example.
+ *
+ */
+
+/*
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#define CONFIGURE_INIT
+#include "system.h"
+
+#include <rtems/rtems/tasksimpl.h>
+#include <rtems/test.h>
+#include <rtems/status-checks.h>
+
+const char rtems_test_name[] = "Rate Monotonic 01";
+
+/* Global variables */
+rtems_id   Task_id[ 2 ];         /* array of task ids */
+rtems_name Task_name[ 2 ];       /* array of task names */
+uint32_t tick_per_second;        /* time reference */
+int testnumber = 15;                  /* stop condition */
+
+rtems_task Init(
+        rtems_task_argument argument
+)
+{
+  TEST_BEGIN();
+  rtems_status_code status;
+  rtems_time_of_day time;
+
+
+  tick_per_second = rtems_clock_get_ticks_per_second();
+  printf("\nTicks per second in your system: %" PRIu32 "\n", tick_per_second);
+
+  Task_name[ 1 ] = rtems_build_name( 'T', 'A', '1', ' ' );
+  Task_name[ 2 ] = rtems_build_name( 'T', 'A', '2', ' ' );
+
+  /* Create two tasks */
+  status = rtems_task_create(
+    Task_name[ 1 ], 2, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES, &Task_id[ 1 ]
+  );
+  if ( status != RTEMS_SUCCESSFUL) {
+    printf( "rtems_task_create 1 failed with status of %d.\n", status );
+    rtems_test_exit(0);
+  } 
+
+  status = rtems_task_create(
+    Task_name[ 2 ], 5, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES, &Task_id[ 2 ]
+  );
+  if ( status != RTEMS_SUCCESSFUL) {
+    printf( "rtems_task_create 2 failed with status of %d.\n", status );
+    rtems_test_exit(0);
+  }
+
+  /* After creating the periods for tasks, start to run them sequencially. */
+
+  status = rtems_task_start( Task_id[ 1 ], Task_1, 1);
+  if ( status != RTEMS_SUCCESSFUL) {
+    printf( "rtems_task_start 1 failed with status of %d.\n", status );
+    rtems_test_exit(0);
+  }
+  status = rtems_task_start( Task_id[ 2 ], Task_2, 1);
+  if ( status != RTEMS_SUCCESSFUL) {
+    printf( "rtems_task_start 2 failed with status of %d.\n", status );
+    rtems_test_exit(0);
+  }
+
+  status = rtems_task_delete( RTEMS_SELF );
+}

new file testsuites/sptests/sprmsched01/sprmsched01.doc

@@ +1 @@
+#
+#   COPYRIGHT (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
+# 
+#   The license and distribution terms for this file may be
+#   found in the file LICENSE in this distribution or at
+#   http://www.rtems.com/license/LICENSE.
+#
+
+This file describes the directives and concepts tested by this test set.
+
+test set name: sprmsched01
+
+directives:
+
+  - rtems_rate_monotonic_report_statistics()
+  - rtems_rate_monotonic_period()
+  - rtems_rate_monotonic_Postponed_num()
+  - _Rate_monotonic_Timeout()
+  - _Rate_monotonic_Renew_deadline()
+  - _Rate_monotonic_Release_postponedjob()
+  - _Rate_monotonic_Block_while_expired()
+
+
+concepts:
+
+  - Verify that watchdog deadline is renewed on time without shift via
+    _Rate_monotonic_Renew_deadline().
+  - Verify that postponed jobs are released with a correct number via
+    _Rate_monotonic_Release_postponedjob().
+  - Verify that rtems_rate_monotonic_report_statistics() reports correct number 
+    of deadline misses.
+  - Verify that rtems_rate_monotonic_period() and 
+    _Rate_monotonic_Block_while_expired() are operational.

new file testsuites/sptests/sprmsched01/sprmsched01.scn

@@ +1 @@
+
+
+*** BEGIN OF TEST Rate Monotonic 01 ***
+
+Ticks per second in your system: 1000
+Task 1 starts at tick 13.
+                                        Task 1 ends at tick 6013.
+Task 2 starts at tick 6014.
+                                        Job 1 Task 2 ends at tick 7014.
+Task 2 starts at tick 8014.
+                                        Job 2 Task 2 ends at tick 9014.
+Task 1 starts at tick 10013.
+                                        Task 1 ends at tick 16013.
+Task 2 starts at tick 16014.
+                                        Job 3 Task 2 ends at tick 17014.
+Task 2 starts at tick 17014.
+                                        Job 4 Task 2 ends at tick 18014.
+Task 2 starts at tick 18014.
+                                        Job 5 Task 2 ends at tick 19014.
+Task 2 starts at tick 19014.
+                                        Job 6 Task 2 ends at tick 20014.
+Task 2 starts at tick 20014.
+                                        Job 7 Task 2 ends at tick 21014.
+Task 2 starts at tick 21014.
+                                        Job 8 Task 2 ends at tick 22014.
+Task 2 starts at tick 22014.
+                                        Job 9 Task 2 ends at tick 23014.
+Task 2 starts at tick 24014.
+                                        Job 10 Task 2 ends at tick 25014.
+Task 2 starts at tick 26014.
+                                        Job 11 Task 2 ends at tick 27014.
+Task 2 starts at tick 28014.
+                                        Job 12 Task 2 ends at tick 29014.
+Task 2 starts at tick 30014.
+                                        Job 13 Task 2 ends at tick 31014.
+Task 2 starts at tick 32014.
+                                        Job 14 Task 2 ends at tick 33014.
+Task 2 starts at tick 34014.
+                                        Job 15 Task 2 ends at tick 35014.
+Period information by period
+--- CPU times are in seconds ---
+--- Wall times are in seconds ---
+   ID     OWNER COUNT MISSED          CPU TIME                  WALL TIME
+                                    MIN/MAX/AVG                MIN/MAX/AVG
+0x42010002 TA2     15      5 0.999841/6.999920/2.399988 0.999848/13.000245/5.200154
+*** END OF TEST Rate Monotonic 01 ***

new file testsuites/sptests/sprmsched01/system.h

@@ +1 @@
+/**
+ * @file sprmsched01/system.h
+ *
+ * @brief sprmsched01 example header
+ */
+
+/*
+ *  COPYRIGHT (c) 1989-2007.
+ *  On-Line Applications Research Corporation (OAR).
+ *
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+ 
+#include <inttypes.h>
+#include <rtems.h>
+
+#include <tmacros.h>
+
+/* function prototypes */
+
+rtems_task Init(
+  rtems_task_argument argument
+);
+
+rtems_task Task_1(
+  rtems_task_argument argument
+);
+
+rtems_task Task_2(
+  rtems_task_argument argument
+);
+
+/*
+ *  Keep the names and IDs in global variables so another task can use them.
+ */ 
+
+extern rtems_id   Task_id[ 2 ];         /* array of task ids */
+extern rtems_name Task_name[ 2 ];       /* array of task names */
+extern uint32_t tick_per_second;        /* time reference */
+extern int testnumber;                  /* stop condition */
+
+/* configuration information */
+
+#include <bsp.h> /* for device driver prototypes */
+
+#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
+#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+#define CONFIGURE_MICROSECONDS_PER_TICK     1000   // NB: 10 and lower gives system failure for erc32 simulator
+#define CONFIGURE_MAXIMUM_TASKS             3
+#define CONFIGURE_MAXIMUM_SEMAPHORES        1
+#define CONFIGURE_MAXIMUM_PRIORITY          15
+#define CONFIGURE_EXTRA_TASK_STACKS         (20 * RTEMS_MINIMUM_STACK_SIZE)
+#define CONFIGURE_MAXIMUM_PERIODS           3
+
+#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
+
+#include <rtems/confdefs.h>
+
+/*
+ *  Macro to loop/simulate the execution time.
+ */
+
+
+#define LOOP(_et, taskID){ \
+  \
+  int start = 0; \
+  int now = 0; \
+  start = rtems_clock_get_ticks_since_boot();\
+  while(1){\
+        \
+    now = rtems_clock_get_ticks_since_boot();\
+          if(now-start >= _et){\
+                break;\
+    }\
+ }\
+}
+/* end of include file */

new file testsuites/sptests/sprmsched01/tasks.c

@@ +1 @@
+/**
+ * @file sprmsched01/tasks.c
+ *
+ * @brief A heuristic example to demonstrate how the postponed jobs are handled.
+ *
+ * Given two tasks with implicit deadline. To force deadline misses, we reverse 
+ * the rate-monotonic priority assignment and only execute the highest priority 
+ * task twice. In the original implementation, no matter how many periods are 
+ * expired, RMS manager only releases a job with a shifted deadline assignment 
+ * in the watchdog.
+ *
+ * In more general real-time task model, e.g., soft real-time task, the postponed
+ * jobs are still required to be released when the task is available to execute.
+ */
+
+/*
+ *  COPYRIGHT (c) 2016 Kuan-Hsun Chen, TU Dortmund University (TUDo).
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.com/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "system.h"
+
+/* CPU usage and Rate monotonic manger statistics */
+#include "rtems/cpuuse.h"
+
+/* Periods for the various tasks [ticks] */
+#define PERIOD_TASK_1          10000
+#define PERIOD_TASK_2          2000
+
+/* Task Id */
+#define ID_TASK_1       0
+#define ID_TASK_2       1
+
+/* Execution time for each task [ticks] */
+#define task_1_normal_et        6000
+#define task_2_normal_et        1000
+
+/**
+ * @brief Task 1 body
+ */
+rtems_task Task_1(
+  rtems_task_argument unused
+)
+{
+  rtems_status_code status;
+  rtems_name        period_name; 
+  rtems_id          RM_period;
+  rtems_id          selfid=rtems_task_self();
+  int               start, end;
+  int                         tsk_counter = 0;
+
+  /*create period*/
+  period_name = rtems_build_name( 'P', 'E', 'R', '1' );
+  status = rtems_rate_monotonic_create( period_name, &RM_period );
+  if( RTEMS_SUCCESSFUL != status ) {
+    printf("RM failed with status: %d\n", status);
+    rtems_test_exit(0);
+  }
+  while( 1 ) {
+        if(tsk_counter == 2){           
+          status = rtems_rate_monotonic_delete(RM_period);
+          if(status != RTEMS_SUCCESSFUL){
+            printf("BUG: Cannot delete the period 1\n");
+        rtems_test_exit(0);
+          }
+          status=rtems_task_delete(selfid);
+          if(status != RTEMS_SUCCESSFUL){
+            printf("BUG: Cannot delete the task 1\n");
+            rtems_test_exit(0);
+      }
+        }
+        status = rtems_rate_monotonic_period( RM_period,PERIOD_TASK_1);
+        start = rtems_clock_get_ticks_since_boot();    
+        printf("Task 1 starts at tick %d.\n", start);
+        LOOP(task_1_normal_et,task_id);
+        end = rtems_clock_get_ticks_since_boot();
+        printf("                                        Task 1 ends at tick %d.\n", end);
+        tsk_counter += 1;
+  }
+}
+
+/**
+ * @brief Task 2 body
+ */
+rtems_task Task_2(
+  rtems_task_argument unused
+)
+{
+  rtems_status_code status;
+  rtems_name        period_name; 
+  rtems_id          RM_period;
+  int               start, end;
+  int                       tsk_counter = 0;
+
+  /*create period*/
+
+  period_name = rtems_build_name( 'P', 'E', 'R', '2' );
+  status = rtems_rate_monotonic_create( period_name, &RM_period );
+  if( RTEMS_SUCCESSFUL != status ) {
+    printf("RM failed with status: %d\n", status);
+    exit( 0 );
+  }
+
+  while( 1 ) {
+    status = rtems_rate_monotonic_period( RM_period, PERIOD_TASK_2);
+        if(tsk_counter == testnumber){        
+          rtems_rate_monotonic_report_statistics();
+          status = rtems_rate_monotonic_delete(RM_period);
+          if(status != RTEMS_SUCCESSFUL){
+            printf("BUG: Cannot delete the period 2\n");
+        rtems_test_exit(0);
+          }
+          /* The example is finished */
+      TEST_END();
+          rtems_test_exit(0);
+        }
+        start = rtems_clock_get_ticks_since_boot();
+        printf("Task 2 starts at tick %d.\n", start);
+        LOOP(task_2_normal_et,task_id);
+        end = rtems_clock_get_ticks_since_boot();
+        printf("                                        Job %d Task 2 ends at tick %d.\n", tsk_counter+1, end);
+        tsk_counter += 1;
+  }
+}
+