Finish all videoes

Gemfile

@@ -7,7 +7,7 @@ source "https://rubygems.org"
 #
 # This will help ensure the proper Jekyll version is running.
 # Happy Jekylling!
-gem "jekyll", "~> 4.1.1"
+gem "jekyll", "~> 4.2.0"
 # This is the default theme for new Jekyll sites. You may change this to anything you like.
 
 # If you want to use GitHub Pages, remove the "gem "jekyll"" above and

_config.yml

@@ -36,8 +36,6 @@ author:
 collections:
   posts:
     excerpt_separator: <!--more-->
-    
-  
 
 
 markdown:         kramdown

_data/ntnu-courses.yml

@@ -14,7 +14,7 @@
     -
       course: ttk4145
       desc: Sanntidsprogrammering, våren 2021.
-      updated: 2021-05-04
+      updated: 2021-05-18
     -
       course: tiø4252
       desc: Teknologiledelse, våren 2021.

ntnu/21v/ttk4145/summary/summary.md

@@ -26,7 +26,7 @@ Hard to capture faults.
 
 ### Traditional error handeling
 
-{% highlight c %}
+{% highlight java %}
 FILE *
 openConfigFile(){
     FILE * f = fopen("/path/to/config.conf");
@@ -248,7 +248,7 @@ Controlling a pump filling a tank.
 
 #### A trivial solution: "Cyclic Exectutive"
 
-{% highlight c %}
+{% highlight java %}
 oldTime = now();
 i = 0;
 while(true) {
@@ -282,7 +282,7 @@ while(true) {
 * Scheduler often inculuded in OSes
 * Introducing priorities
 
-{% highlight c %}
+{% highlight java %}
 /**
     * scheduler_registerThread(function, time, priority)
     * Higher priority numer means higher priority in scheduler
@@ -331,11 +331,11 @@ main() {
 * Make a handler for a timer interrupt
 * Store all registers (including IP & SP) in a "thread object"
 * Organize queue of processes (Round Robin e.g. - a collection of thread objects?)
-* Can synchronize by: while(!ready); (busy wating, "spin locks")
+* Can synchronize by: `while(!ready);` (busy wating, "spin locks")
 
 **Bad solution**
 
-{% highlight c%}
+{% highlight java%}
 while(lock==1) {}
 lock = 1;
     // We may run
@@ -344,7 +344,7 @@ lock = 0;
 
 **Better solution**
 
-{% highlight c%}
+{% highlight java%}
 void t1() {
     flag1 = 1;  // Declare my intention
     turn  = 2;  // But try to be polite
@@ -371,6 +371,170 @@ void t1() {
 **Let us introduce another queue; the collection of threads not running, waiting for something**
 
 * Fixes the bad performance of spin locks. Is conceptually better.
-* "Suspend" moves a thread object from "run" queue to "blocked" queue
-* "Resume" moves it back.
+* `suspend` moves a thread object from "run" queue to "blocked" queue
+* `resume` moves it back.
+
+##### Two bad solutions
+
+{% highlight java%}
+t1(){
+    while(busy == 1) suspend();
+    busy = 1;   // It is free; tak it - No
+        // Run
+    busy = 0;   // Release resource
+
+    resume t2 // No
+}
+{% endhighlight %}
+
+or 
+
+{% highlight java%}
+t1(){
+    while(TestNSet(busy, 1) == 1) suspend();
+        // We own resource
+        // Run
+    busy = 0;
+
+    resume t2 // No
+}
+{% endhighlight %}
+
+##### The suspend/resume problem
+
+{% highlight java%}
+// Global variables
+bool g_initDone = False;
+
+// Threads
+t1(){                           t2(){
+    /* Do init */                   if (g_initDone == False) {
+    g_initDone = True;                  Suspend();
+    resume(t2)                      }
+    // Continue executing           // Continue exectuting
+}                               }
+{% endhighlight %}
+
+#### Priorities
+
+* Threads mey have different *priorities*. (A sortet run-queue, or more of them.)
+* Only if there are no running threads on a higher priority, a thread will run.
+* We are not aiming for some sens of fairness (!). But predictability.
+* And priorities supports schedulability proofs.
+* But we open ourselves up to *starvation*. A thread may not ever get to run, even if it is runnable.
+
+
+#### Application-level syncronization
+
+**SO, the application programmer needs some syncronozation primitives...**
+
+* `sleep()`? - Ok
+* Publish `suspend` and `resume` - No
+* Events (`wait` and `signal`) - Just named versions of suspend & resume semantics.
+  * Fixes the need to know aboud "thread objects". But no
+* ...or "Condition variables" - same
+
+
+### Semaphores
+
+**A counting semaphore**
+
+* `signal(SEM)` increases the counter (possibly resuming a thread waiting for the semaphore)
+* `wait(SEM)` decrements the counter - will block (be suspended) `if SEM == 0`
+  * The semaphores value can not be negative
+* Of course; These calls are protected from interleaving by disabling the timer interrupt
+
+**We solve beautifully:**
+* Mutual Exclusion
+* Conditional Synchronization (ref `suspend`/`resume`)
+* Basic resource allocation
+
+**Semaphore variations**
+
+* `wait` and `signal` nay take parameter value to add or subtract
+* `getValue(SEM)` returning the value of the semaphore. (Fishy)
+* BInary semaphores (`signal` will fail `if SEM == 1`)
+* Who is woken at `signal` (FIFO, Arbitrary, Highest priority)
+* The mutex
+  * binary
+  * ownership
+  * allows mulitple waits by owner
+  * regions (may be released by Javas `wait` or POSIX condition variables)
+* RTFM
+
+**Semaphore challenges**
+
+* Breaks modules (both ways)
+  * Does not scale!
+* Deadlocks
+  * Global analysis --> Does not scale
+* Can not release "temporarily
+* "Limited expressive power". Some reasonalbe problems are hard to solve
+  * Ref ["The Little Book of Semaphores"](https://greenteapress.com/semaphores/LittleBookOfSemaphores.pdf)
+
+### Why shared-variable synchronization
+
+**Why not?**
+
+* "Shared variables" is bad code quality
+  * Ref global variables, and data members in module interfaces
+* An obvious bottleneck? Scales terribly
+* "Variables" are passive objects
+  * They can not protect themselves
+* Why use synchronization when it is communication we need?
+* Technology transfers badly to distibuted systems
+* ... and this is before we start discussing how hard it is
+
+**Why?**
+
+* Part of the "real-time" design pattern
+  * "One thread per timing demand" 
+  * We do have scheduling proofs and best practises
+* Timing analysis is global anyway
+  * Scalability and deadlock analysis may not be the limiting constraint
+* HW is shared memory architecture
+  * Infrastucture is avalible
+* Communication systems requires infrastucture that we may not have
+
+#### *All* resources are shared!
+
+* Memory, certainly
+* "Hidden" memory used by libraries (.. your own modules and the kernel)
+  * If the library takes care of this itself, it is called *"reentrant"*
+* Sensors and actuators
+* "CPU" - Computing capacity 
+  * *This* is real-time programming; We solve it by *Scheduling*
+* ... any other interface
+
+
+#### Some standard problems/pit-falls
+
+* **Race condition**: A bug that surfaces by unfortunate timing or order of events
+* **Deadlock:** system in circular wait
+  * Special case of livelock
+  * Does not use CPU
+* **Livelock:** system locked in a subset of states 
+  * like deadlock, but we use CPU
+  * Busy-Waiting is a livelock
+* **Starvation:** A thread does "by accident" not get the necessary resources
+
+
+#### Features in syncronization
+
+* Critical Section - Code that must not be interupted
+* Mutual Exclusion - More piecesof code that must not interrupt each other
+* Bounded buffer - Buffer with full/empty synchronization
+* Read/Write Locks
+  * Readers can interleave eachother
+  * Writers have mutual exclusion
+* Condition Syncronization - Blocking on event or status
+  * Guards etc.
+* Resource allocation
+  * More than mutual exclution!
+  * Ref: The lock manager
+* Rendezvouz/barriere - Synchronization point
+  * Ref: AA "end boundary"
+* Communication
+* Broadcast
+* ...