[rtems commit] score: Add Watchdog_Iterator

Sebastian Huber sebh at rtems.org
Wed May 20 07:12:03 UTC 2015


Module:    rtems
Branch:    master
Commit:    1ccbd052910ed16131c74b0d5595c8a94066942d
Changeset: http://git.rtems.org/rtems/commit/?id=1ccbd052910ed16131c74b0d5595c8a94066942d

Author:    Sebastian Huber <sebastian.huber at embedded-brains.de>
Date:      Wed Apr 15 10:53:29 2015 +0200

score: Add Watchdog_Iterator

Rewrite the _Watchdog_Insert(), _Watchdog_Remove() and
_Watchdog_Tickle() functions to use iterator items to synchronize
concurrent operations.  This makes it possible to get rid of the global
variables _Watchdog_Sync_level and _Watchdog_Sync_count which are a
blocking point for scalable SMP solutions.

Update #2307.

---

 cpukit/rtems/src/timercreate.c                  |   6 +
 cpukit/score/include/rtems/score/watchdogimpl.h |  58 +++++++---
 cpukit/score/src/watchdog.c                     |   2 -
 cpukit/score/src/watchdoginsert.c               | 112 +++++++++++--------
 cpukit/score/src/watchdogremove.c               |  71 +++++++++---
 cpukit/score/src/watchdogtickle.c               | 139 +++++++++---------------
 testsuites/sptests/spsize/size.c                |   4 +-
 testsuites/sptests/spwatchdog/init.c            | 114 +++++++++++++++++++
 8 files changed, 337 insertions(+), 169 deletions(-)

diff --git a/cpukit/rtems/src/timercreate.c b/cpukit/rtems/src/timercreate.c
index 2c6d251..13a01fe 100644
--- a/cpukit/rtems/src/timercreate.c
+++ b/cpukit/rtems/src/timercreate.c
@@ -29,6 +29,10 @@
 void _Timer_Cancel( Timer_Control *the_timer )
 {
   Timer_server_Control *timer_server;
+  ISR_Level level;
+
+  /* The timer class must not change during the cancel operation */
+  _ISR_Disable( level );
 
   switch ( the_timer->the_class ) {
     case TIMER_INTERVAL:
@@ -46,6 +50,8 @@ void _Timer_Cancel( Timer_Control *the_timer )
       _Assert( the_timer->the_class == TIMER_DORMANT );
       break;
   }
+
+  _ISR_Enable( level );
 }
 
 rtems_status_code rtems_timer_create(
diff --git a/cpukit/score/include/rtems/score/watchdogimpl.h b/cpukit/score/include/rtems/score/watchdogimpl.h
index f52b55d..304392b 100644
--- a/cpukit/score/include/rtems/score/watchdogimpl.h
+++ b/cpukit/score/include/rtems/score/watchdogimpl.h
@@ -46,6 +46,28 @@ extern "C" {
   }
 
 /**
+ * @brief Iterator item to synchronize concurrent insert, remove and tickle
+ * operations.
+ */
+typedef struct {
+  /**
+   * @brief A node for a Watchdog_Header::Iterators chain.
+   */
+  Chain_Node Node;
+
+  /**
+   * @brief The current delta interval of the new watchdog to insert.
+   */
+  Watchdog_Interval delta_interval;
+
+  /**
+   * @brief The current watchdog of the chain on the way to insert the new
+   * watchdog.
+   */
+  Chain_Node *current;
+} Watchdog_Iterator;
+
+/**
  * @brief Watchdog header.
  */
 typedef struct {
@@ -58,23 +80,15 @@ typedef struct {
    * @brief The chain of active or transient watchdogs.
    */
   Chain_Control Watchdogs;
-} Watchdog_Header;
-
-/**
- *  @brief Watchdog synchronization level.
- *
- *  This used for synchronization purposes
- *  during an insert on a watchdog delta chain.
- */
-SCORE_EXTERN volatile uint32_t    _Watchdog_Sync_level;
 
-/**
- *  @brief Watchdog synchronization count.
- *
- *  This used for synchronization purposes
- *  during an insert on a watchdog delta chain.
- */
-SCORE_EXTERN volatile uint32_t    _Watchdog_Sync_count;
+  /**
+   * @brief Currently active iterators.
+   *
+   * The iterators are registered in _Watchdog_Insert() and updated in case the
+   * watchdog chain changes.
+   */
+  Chain_Control Iterators;
+} Watchdog_Header;
 
 /**
  *  @brief Watchdog chain which is managed at ticks.
@@ -139,6 +153,16 @@ Watchdog_States _Watchdog_Remove (
 );
 
 /**
+ * @brief Actually removes an WATCHDOG_ACTIVE or WATCHDOG_REMOVE_IT watchdog.
+ *
+ * @see _Watchdog_Remove() and _Watchdog_Tickle().
+ */
+void _Watchdog_Remove_it(
+  Watchdog_Header  *header,
+  Watchdog_Control *the_watchdog
+);
+
+/**
  *  @brief Adjusts the header watchdog chain in the backward direction for
  *  units ticks.
  *
@@ -437,7 +461,9 @@ RTEMS_INLINE_ROUTINE void _Watchdog_Header_initialize(
   Watchdog_Header *header
 )
 {
+  _ISR_lock_Initialize( &header->Lock, "Watchdog" );
   _Chain_Initialize_empty( &header->Watchdogs );
+  _Chain_Initialize_empty( &header->Iterators );
 }
 
 /** @} */
diff --git a/cpukit/score/src/watchdog.c b/cpukit/score/src/watchdog.c
index 0db60ef..11d3cf2 100644
--- a/cpukit/score/src/watchdog.c
+++ b/cpukit/score/src/watchdog.c
@@ -25,8 +25,6 @@
 
 void _Watchdog_Handler_initialization( void )
 {
-  _Watchdog_Sync_count = 0;
-  _Watchdog_Sync_level = 0;
   _Watchdog_Ticks_since_boot = 0;
 
   _Watchdog_Header_initialize( &_Watchdog_Ticks_header );
diff --git a/cpukit/score/src/watchdoginsert.c b/cpukit/score/src/watchdoginsert.c
index 0ad59ff..6d2df82 100644
--- a/cpukit/score/src/watchdoginsert.c
+++ b/cpukit/score/src/watchdoginsert.c
@@ -19,76 +19,92 @@
 #endif
 
 #include <rtems/score/watchdogimpl.h>
-#include <rtems/score/isrlevel.h>
-#include <rtems/score/percpu.h>
 
-void _Watchdog_Insert(
-  Watchdog_Header       *header,
-  Watchdog_Control      *the_watchdog
+static void _Watchdog_Insert_fixup(
+  Watchdog_Header   *header,
+  Watchdog_Control  *next_watchdog,
+  Watchdog_Interval  delta
 )
 {
-  ISR_lock_Context   lock_context;
-  Watchdog_Control  *after;
-  uint32_t           insert_isr_nest_level;
-  Watchdog_Interval  delta_interval;
+  const Chain_Node *iterator_tail;
+  Chain_Node       *iterator_node;
 
+  next_watchdog->delta_interval -= delta;
 
-  insert_isr_nest_level   = _ISR_Nest_level;
+  iterator_node = _Chain_First( &header->Iterators );
+  iterator_tail = _Chain_Immutable_tail( &header->Iterators );
 
-  _Watchdog_Acquire( header, &lock_context );
+  while ( iterator_node != iterator_tail ) {
+    Watchdog_Iterator *iterator;
 
-  /*
-   *  Check to see if the watchdog has just been inserted by a
-   *  higher priority interrupt.  If so, abandon this insert.
-   */
+    iterator = (Watchdog_Iterator *) iterator_node;
 
-  if ( the_watchdog->state != WATCHDOG_INACTIVE ) {
-    _Watchdog_Release( header, &lock_context );
-    return;
+    if ( iterator->current == &next_watchdog->Node ) {
+      iterator->delta_interval -= delta;
+    }
+
+    iterator_node = _Chain_Next( iterator_node );
   }
+}
 
-  the_watchdog->state = WATCHDOG_BEING_INSERTED;
-  _Watchdog_Sync_count++;
+void _Watchdog_Insert(
+  Watchdog_Header  *header,
+  Watchdog_Control *the_watchdog
+)
+{
+  ISR_lock_Context lock_context;
 
-restart:
-  delta_interval = the_watchdog->initial;
+  _Watchdog_Acquire( header, &lock_context );
 
-  for ( after = _Watchdog_First( header ) ;
-        ;
-        after = _Watchdog_Next( after ) ) {
+  if ( the_watchdog->state == WATCHDOG_INACTIVE ) {
+    Watchdog_Iterator  iterator;
+    Chain_Node        *current;
+    Chain_Node        *next;
+    Watchdog_Interval  delta;
 
-     if ( delta_interval == 0 || !_Watchdog_Next( after ) )
-       break;
+    the_watchdog->state = WATCHDOG_BEING_INSERTED;
 
-     if ( delta_interval < after->delta_interval ) {
-       after->delta_interval -= delta_interval;
-       break;
-     }
+    _Chain_Append_unprotected( &header->Iterators, &iterator.Node );
 
-     delta_interval -= after->delta_interval;
+    delta = the_watchdog->initial;
+    current = _Chain_Head( &header->Watchdogs );
 
-     _Watchdog_Flash( header, &lock_context );
+    while (
+      ( next = _Chain_Next( current ) ) != _Chain_Tail( &header->Watchdogs )
+    ) {
+      Watchdog_Control  *next_watchdog;
+      Watchdog_Interval  delta_next;
 
-     if ( the_watchdog->state != WATCHDOG_BEING_INSERTED ) {
-       goto exit_insert;
-     }
+      next_watchdog = (Watchdog_Control *) next;
+      delta_next = next_watchdog->delta_interval;
 
-     if ( _Watchdog_Sync_level > insert_isr_nest_level ) {
-       _Watchdog_Sync_level = insert_isr_nest_level;
-       goto restart;
-     }
-  }
+      if ( delta < delta_next ) {
+        _Watchdog_Insert_fixup( header, next_watchdog, delta );
+        break;
+      }
+
+      iterator.delta_interval = delta - delta_next;
+      iterator.current = next;
 
-  _Watchdog_Activate( the_watchdog );
+      _Watchdog_Flash( header, &lock_context );
 
-  the_watchdog->delta_interval = delta_interval;
+      if ( the_watchdog->state != WATCHDOG_BEING_INSERTED ) {
+        goto abort_insert;
+      }
 
-  _Chain_Insert_unprotected( after->Node.previous, &the_watchdog->Node );
+      delta = iterator.delta_interval;
+      current = iterator.current;
+    }
 
-  the_watchdog->start_time = _Watchdog_Ticks_since_boot;
+    the_watchdog->delta_interval = delta;
+    the_watchdog->start_time = _Watchdog_Ticks_since_boot;
+    _Watchdog_Activate( the_watchdog );
+    _Chain_Insert_unprotected( current, &the_watchdog->Node );
+
+abort_insert:
+
+    _Chain_Extract_unprotected( &iterator.Node );
+  }
 
-exit_insert:
-  _Watchdog_Sync_level = insert_isr_nest_level;
-  _Watchdog_Sync_count--;
   _Watchdog_Release( header, &lock_context );
 }
diff --git a/cpukit/score/src/watchdogremove.c b/cpukit/score/src/watchdogremove.c
index c765ac5..c896fbb 100644
--- a/cpukit/score/src/watchdogremove.c
+++ b/cpukit/score/src/watchdogremove.c
@@ -18,9 +18,58 @@
 #include "config.h"
 #endif
 
-#include <rtems/system.h>
-#include <rtems/score/isr.h>
 #include <rtems/score/watchdogimpl.h>
+#include <rtems/score/assert.h>
+
+void _Watchdog_Remove_it(
+  Watchdog_Header   *header,
+  Watchdog_Control  *the_watchdog
+)
+{
+  Chain_Node        *next;
+  Watchdog_Interval  delta;
+  const Chain_Node  *iterator_tail;
+  Chain_Node        *iterator_node;
+
+  _Assert(
+    the_watchdog->state == WATCHDOG_ACTIVE
+      || the_watchdog->state == WATCHDOG_REMOVE_IT
+  );
+
+  the_watchdog->state = WATCHDOG_INACTIVE;
+  the_watchdog->stop_time = _Watchdog_Ticks_since_boot;
+
+  next = _Chain_Next( &the_watchdog->Node );
+  delta = the_watchdog->delta_interval;
+
+  if ( next != _Chain_Tail( &header->Watchdogs ) ) {
+    Watchdog_Control *next_watchdog;
+
+    next_watchdog = (Watchdog_Control *) next;
+    next_watchdog->delta_interval += delta;
+  }
+
+  _Chain_Extract_unprotected( &the_watchdog->Node );
+
+  iterator_node = _Chain_First( &header->Iterators );
+  iterator_tail = _Chain_Immutable_tail( &header->Iterators );
+
+  while ( iterator_node != iterator_tail ) {
+    Watchdog_Iterator *iterator;
+
+    iterator = (Watchdog_Iterator *) iterator_node;
+
+    if ( iterator->current == next ) {
+      iterator->delta_interval += delta;
+    }
+
+    if ( iterator->current == &the_watchdog->Node ) {
+      iterator->current = _Chain_Previous( &the_watchdog->Node );
+    }
+
+    iterator_node = _Chain_Next( iterator_node );
+  }
+}
 
 Watchdog_States _Watchdog_Remove(
   Watchdog_Header  *header,
@@ -29,7 +78,7 @@ Watchdog_States _Watchdog_Remove(
 {
   ISR_lock_Context  lock_context;
   Watchdog_States   previous_state;
-  Watchdog_Control *next_watchdog;
+  Watchdog_Interval now;
 
   _Watchdog_Acquire( header, &lock_context );
   previous_state = the_watchdog->state;
@@ -44,24 +93,16 @@ Watchdog_States _Watchdog_Remove(
        *  the Insert operation we interrupted will be aborted.
        */
       the_watchdog->state = WATCHDOG_INACTIVE;
+      now = _Watchdog_Ticks_since_boot;
+      the_watchdog->start_time = now;
+      the_watchdog->stop_time = now;
       break;
 
     case WATCHDOG_ACTIVE:
     case WATCHDOG_REMOVE_IT:
-
-      the_watchdog->state = WATCHDOG_INACTIVE;
-      next_watchdog = _Watchdog_Next( the_watchdog );
-
-      if ( _Watchdog_Next(next_watchdog) )
-        next_watchdog->delta_interval += the_watchdog->delta_interval;
-
-      if ( _Watchdog_Sync_count )
-        _Watchdog_Sync_level = _ISR_Nest_level;
-
-      _Chain_Extract_unprotected( &the_watchdog->Node );
+      _Watchdog_Remove_it( header, the_watchdog );
       break;
   }
-  the_watchdog->stop_time = _Watchdog_Ticks_since_boot;
 
   _Watchdog_Release( header, &lock_context );
   return( previous_state );
diff --git a/cpukit/score/src/watchdogtickle.c b/cpukit/score/src/watchdogtickle.c
index 2092010..7a80008 100644
--- a/cpukit/score/src/watchdogtickle.c
+++ b/cpukit/score/src/watchdogtickle.c
@@ -19,99 +19,68 @@
 #endif
 
 #include <rtems/score/watchdogimpl.h>
-#include <rtems/score/isrlevel.h>
 
 void _Watchdog_Tickle(
   Watchdog_Header *header
 )
 {
-  ISR_lock_Context  lock_context;
-  Watchdog_Control *the_watchdog;
-  Watchdog_States   watchdog_state;
-
-  /*
-   * See the comment in watchdoginsert.c and watchdogadjust.c
-   * about why it's safe not to declare header a pointer to
-   * volatile data - till, 2003/7
-   */
+  ISR_lock_Context lock_context;
 
   _Watchdog_Acquire( header, &lock_context );
 
-  if ( _Watchdog_Is_empty( header ) )
-    goto leave;
-
-  the_watchdog = _Watchdog_First( header );
-
-  /*
-   * For some reason, on rare occasions the_watchdog->delta_interval
-   * of the head of the watchdog chain is 0.  Before this test was
-   * added, on these occasions an event (which usually was supposed
-   * to have a timeout of 1 tick would have a delta_interval of 0, which
-   * would be decremented to 0xFFFFFFFF by the unprotected
-   * "the_watchdog->delta_interval--;" operation.
-   * This would mean the event would not timeout, and also the chain would
-   * be blocked, because a timeout with a very high number would be at the
-   * head, rather than at the end.
-   * The test "if (the_watchdog->delta_interval != 0)"
-   * here prevents this from occuring.
-   *
-   * We were not able to categorically identify the situation that causes
-   * this, but proved it to be true empirically.  So this check causes
-   * correct behaviour in this circumstance.
-   *
-   * The belief is that a race condition exists whereby an event at the head
-   * of the chain is removed (by a pending ISR or higher priority task)
-   * during the _ISR_Flash( level ); in _Watchdog_Insert, but the watchdog
-   * to be inserted has already had its delta_interval adjusted to 0, and
-   * so is added to the head of the chain with a delta_interval of 0.
-   *
-   * Steven Johnson - 12/2005 (gcc-3.2.3 -O3 on powerpc)
-   */
-  if (the_watchdog->delta_interval != 0) {
-    the_watchdog->delta_interval--;
-    if ( the_watchdog->delta_interval != 0 )
-      goto leave;
+  if ( !_Watchdog_Is_empty( header ) ) {
+    Watchdog_Control  *first;
+    Watchdog_Interval  delta;
+
+    first = _Watchdog_First( header );
+    delta = first->delta_interval;
+
+    /*
+     * Although it is forbidden to insert watchdogs with a delta interval of
+     * zero it is possible to observe watchdogs with a delta interval of zero
+     * at this point.  For example lets have a watchdog chain of one watchdog
+     * with a delta interval of one and insert a new one with an initial value
+     * of one.  At the start of the insert procedure it will advance one step
+     * and reduce its delta interval by one yielding zero.  Now a tick happens.
+     * This will remove the watchdog on the chain and update the insert
+     * iterator.  Now the insert operation continues and will insert the new
+     * watchdog with a delta interval of zero.
+     */
+    if ( delta > 0 ) {
+      --delta;
+      first->delta_interval = delta;
+    }
+
+    while ( delta == 0 ) {
+      bool                            run;
+      Watchdog_Service_routine_entry  routine;
+      Objects_Id                      id;
+      void                           *user_data;
+
+      run = ( first->state == WATCHDOG_ACTIVE );
+
+      _Watchdog_Remove_it( header, first );
+
+      routine = first->routine;
+      id = first->id;
+      user_data = first->user_data;
+
+      _Watchdog_Release( header, &lock_context );
+
+      if ( run ) {
+        (*routine)( id, user_data );
+      }
+
+      _Watchdog_Acquire( header, &lock_context );
+
+      if ( _Watchdog_Is_empty( header ) ) {
+        break;
+      }
+
+      first = _Watchdog_First( header );
+      delta = first->delta_interval;
+    }
   }
 
-  do {
-     watchdog_state = _Watchdog_Remove( header, the_watchdog );
-
-     _Watchdog_Release( header, &lock_context );
-
-     switch( watchdog_state ) {
-       case WATCHDOG_ACTIVE:
-         (*the_watchdog->routine)(
-           the_watchdog->id,
-           the_watchdog->user_data
-         );
-         break;
-
-       case WATCHDOG_INACTIVE:
-         /*
-          *  This state indicates that the watchdog is not on any chain.
-          *  Thus, it is NOT on a chain being tickled.  This case should
-          *  never occur.
-          */
-         break;
-
-       case WATCHDOG_BEING_INSERTED:
-         /*
-          *  This state indicates that the watchdog is in the process of
-          *  BEING inserted on the chain.  Thus, it can NOT be on a chain
-          *  being tickled.  This case should never occur.
-          */
-         break;
-
-       case WATCHDOG_REMOVE_IT:
-         break;
-     }
-
-     _Watchdog_Acquire( header, &lock_context );
-
-     the_watchdog = _Watchdog_First( header );
-   } while ( !_Watchdog_Is_empty( header ) &&
-             (the_watchdog->delta_interval == 0) );
-
-leave:
-   _Watchdog_Release( header, &lock_context );
+  _Watchdog_Release( header, &lock_context );
 }
diff --git a/testsuites/sptests/spsize/size.c b/testsuites/sptests/spsize/size.c
index f00da0d..58bcc89 100644
--- a/testsuites/sptests/spsize/size.c
+++ b/testsuites/sptests/spsize/size.c
@@ -399,9 +399,7 @@ uninitialized =
 
 /*userext.h*/   (sizeof _User_extensions_List)            +
 
-/*watchdog.h*/  (sizeof _Watchdog_Sync_level)             +
-                (sizeof _Watchdog_Sync_count)             +
-                (sizeof _Watchdog_Ticks_since_boot)       +
+/*watchdog.h*/  (sizeof _Watchdog_Ticks_since_boot)       +
                 (sizeof _Watchdog_Ticks_header)           +
                 (sizeof _Watchdog_Seconds_header)         +
 
diff --git a/testsuites/sptests/spwatchdog/init.c b/testsuites/sptests/spwatchdog/init.c
index 1d3cb2f..283f4c8 100644
--- a/testsuites/sptests/spwatchdog/init.c
+++ b/testsuites/sptests/spwatchdog/init.c
@@ -34,6 +34,119 @@ static void test_watchdog_routine( Objects_Id id, void *arg )
   rtems_test_assert( 0 );
 }
 
+static void init_watchdogs(
+  Watchdog_Header *header,
+  Watchdog_Control watchdogs[3]
+)
+{
+  Watchdog_Control *a = &watchdogs[0];
+  Watchdog_Control *b = &watchdogs[1];
+  Watchdog_Control *c = &watchdogs[2];
+  Watchdog_Control *d = &watchdogs[3];
+
+  _Watchdog_Header_initialize( header );
+  rtems_test_assert( _Watchdog_Is_empty( header ) );
+  rtems_test_assert( _Chain_Is_empty( &header->Iterators ) );
+
+  _Watchdog_Initialize( c, NULL, 0, NULL );
+  c->initial = 6;
+  _Watchdog_Insert( header, c );
+  rtems_test_assert( c->delta_interval == 6 );
+
+  rtems_test_assert( !_Watchdog_Is_empty( header ) );
+  rtems_test_assert( _Chain_Is_empty( &header->Iterators ) );
+
+  _Watchdog_Initialize( a, NULL, 0, NULL );
+  a->initial = 2;
+  _Watchdog_Insert( header, a );
+  rtems_test_assert( a->delta_interval == 2 );
+  rtems_test_assert( c->delta_interval == 4 );
+
+  _Watchdog_Initialize( b, NULL, 0, NULL );
+  b->initial = 4;
+  _Watchdog_Insert( header, b );
+  rtems_test_assert( a->delta_interval == 2 );
+  rtems_test_assert( b->delta_interval == 2 );
+  rtems_test_assert( c->delta_interval == 2 );
+
+  _Watchdog_Initialize( d, NULL, 0, NULL );
+}
+
+static void destroy_watchdogs(
+  Watchdog_Header *header
+)
+{
+  _ISR_lock_Destroy( &header->Lock );
+}
+
+static void add_iterator(
+  Watchdog_Header *header,
+  Watchdog_Iterator *i,
+  Watchdog_Control *w
+)
+{
+  _Chain_Append_unprotected( &header->Iterators, &i->Node );
+  i->delta_interval = 2;
+  i->current = &w->Node;
+}
+
+static void test_watchdog_insert_and_remove( void )
+{
+  Watchdog_Header header;
+  Watchdog_Control watchdogs[4];
+  Watchdog_Control *a = &watchdogs[0];
+  Watchdog_Control *b = &watchdogs[1];
+  Watchdog_Control *c = &watchdogs[2];
+  Watchdog_Control *d = &watchdogs[3];
+  Watchdog_Iterator i;
+
+  init_watchdogs( &header, watchdogs );
+  add_iterator( &header, &i, c );
+
+  /* Remove next watchdog of iterator */
+  _Watchdog_Remove( &header, c );
+  rtems_test_assert( i.delta_interval == 2 );
+  rtems_test_assert( i.current == &b->Node );
+
+  /* Remove watchdog before the current watchdog of iterator */
+  _Watchdog_Remove( &header, a );
+  rtems_test_assert( i.delta_interval == 4 );
+  rtems_test_assert( i.current == &b->Node );
+
+  /* Remove current (= last) watchdog of iterator */
+  _Watchdog_Remove( &header, b );
+  rtems_test_assert( i.delta_interval == 4 );
+  rtems_test_assert( i.current == _Chain_Head( &header.Watchdogs ) );
+
+  /* Insert first watchdog */
+  a->initial = 1;
+  _Watchdog_Insert( &header, a );
+  rtems_test_assert( i.delta_interval == 4 );
+  rtems_test_assert( i.current == _Chain_Head( &header.Watchdogs ) );
+
+  destroy_watchdogs( &header );
+  init_watchdogs( &header, watchdogs );
+  add_iterator( &header, &i, b );
+
+  /* Insert right before current watchdog of iterator */
+  d->initial = 3;
+  _Watchdog_Insert( &header, d );
+  rtems_test_assert( i.delta_interval == 1 );
+  rtems_test_assert( i.current == &b->Node );
+
+  destroy_watchdogs( &header );
+  init_watchdogs( &header, watchdogs );
+  add_iterator( &header, &i, b );
+
+  /* Insert right after current watchdog of iterator */
+  d->initial = 5;
+  _Watchdog_Insert( &header, d );
+  rtems_test_assert( i.delta_interval == 2 );
+  rtems_test_assert( i.current == &b->Node );
+
+  destroy_watchdogs( &header );
+}
+
 static void test_watchdog_static_init( void )
 {
   #if defined(RTEMS_USE_16_BIT_OBJECT)
@@ -70,6 +183,7 @@ rtems_task Init(
   TEST_BEGIN();
 
   test_watchdog_static_init();
+  test_watchdog_insert_and_remove();
 
   build_time( &time, 12, 31, 1988, 9, 0, 0, 0 );
 



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