Semaphores

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Contents
1. 2. 3. 4.
Definition Operators Typical Use Implementation in T-kernel

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1. Definition
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A semaphore (sometimes called a semaphore token) is a kernel object that one or more threads of execution can acquire or release for the purposes of synchronization or mutual exclusion

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1. Definition

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1. Definition
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3 groups:

Binary Semaphores Counting Semaphores Mutual Exclusion Semaphores

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1.1. Binary Semaphores

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Binary semaphores are treated as global resources

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1.2. Counting Semaphores

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global resources bounded count vs unbounded count

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1.3. Mutual Exclusion Semaphores

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A mutual exclusion (mutex) semaphore is a special binary semaphore

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1.3. Mutual Exclusion Semaphores

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Ownership Recursive access Task deletion safety Protocols for avoiding problems inherent to mutual exclusion

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1.3. Mutual Exclusion Semaphores

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Owner is the first task acquiring it Only owner can release it (contrast with binary semaphores)

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1.3. Mutual Exclusion Semaphores

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Recursive locking (optional): owner can acquire multiple times in the locked state Avoid causing the deadlock in nested attempts to acquire the resource

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1.3. Mutual Exclusion Semaphores

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Task Deletion Safety (optional): using task deletion locks to ensure that the owner task cannot be deleted

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1.3. Mutual Exclusion Semaphores

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Priority Inversion Avoidance:

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1.3. Mutual Exclusion Semaphores

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Priority Inversion Avoidance:

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1.3. Mutual Exclusion Semaphores

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Priority Inversion Avoidance

Common protocols:
priority inheritance ceiling priority

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2. Operator
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creating and deleting semaphores acquiring and releasing semaphores clearing a semaphores task-waiting list getting semaphore information.

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3. Typical Use
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Wait-and-Signal Synchronization

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3. Typical Use
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Wait-and-Signal Synchronization

tWaitTask ( ) { : Acquire binary semaphore token : } tSignalTask ( ) { : Release binary semaphore token : }

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3. Typical Use
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Multiple-Task Wait-and-Signal Synchronization

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3. Typical Use
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Multiple-Task Wait-and-Signal Synchronization

tWaitTask () { : Do some processing specific to task Acquire binary semaphore token : } tSignalTask () { : Do some processing Flush binary semaphore's task-waiting list : }
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3. Typical Use
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Credit-Tracking Synchronization

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3. Typical Use
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Credit-Tracking Synchronization
tWaitTask () { : Acquire counting semaphore token :

} tSignalTask () { : Release counting semaphore token : }

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3. Typical Use
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Single Shared-Resource-Access Synchronization

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3. Typical Use
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Single Shared-Resource-Access Synchronization

tAccessTask () { : Acquire binary semaphore token Read or write to shared resource Release binary semaphore token : }

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3. Typical Use
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Multiple Shared-Resource-Access Synchronization

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3. Typical Use
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Multiple Shared-Resource-Access Synchronization

tAccessTask () { : Acquire a counting semaphore token Read or Write to shared resource Release a counting semaphore token : }

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3. Typical Use
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Multiple Shared-Resource-Access Synchronization

tAccessTask () { : Acquire first mutex in non-blocking way If not successful then acquire 2nd mutex in a blocking way Read or Write to shared resource Release the acquired mutex : }

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3. Typical Use
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Recursive Shared-ResourceAccess Synchronization

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3. Typical Use
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Recursive Shared-ResourceAccess Synchronization

Routine B () { : Acquire mutex Access shared resource Release mutex : }

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tAccessTask () { Acquire mutex Access shared resource Call Routine A Release mutex } Routine A () { Acquire mutex Access shared resource Call Routine B Release mutex }

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4. Implementation in T-Kernel
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The semaphores functions: ID semid = tk_cre_sem ( T_CSEM *pk_csem ); ER ercd = tk_del_sem ( ID semid ) ; ER ercd = tk_sig_sem ( ID semid, INT cnt ) ; ER ercd = tk_wai_sem ( ID semid, INT cnt, TMO tmout ) ; ER ercd = tk_ref_sem ( ID semid, T_RSEM *pk_rsem ) ;

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4. Implementation in T-Kernel
The mutex functions: ID mtxid = tk_cre_mtx ( T_CMTX *pk_cmtx ) ;
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ER ercd = tk_del_mtx ( ID mtxid ) ; ER ercd = tk_loc_mtx ( ID mtxid, TMO tmout ) ; ER ercd = tk_unl_mtx ( ID mtxid ) ; ER ercd = tk_ref_mtx ( ID mtxid, T_RMTX *pk_rmtx ) ;

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4. Reference
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T-kernel Specification T-engine Forum Real-Time Concepts for Embedded Systems Qing Li with Caroline Yao

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Thank You !
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