Understanding Context Switches in Xenomai-Linux POSIX skin - c

Question

I'm running a RT program on BeagleBone Black with Xenomai and trying to figure how to monitor/understand context switches (I know the concept of context switches) so that I can determine when my program (in C using POSIX skin) switches from primary and secondary mode.
Here's the program main_posix.c
#ifndef __XENO_SIM__
#ifndef __KERNEL__
#include <stdio.h>
#define xnarch_printf printf
#endif
#include <time.h>
#include <errno.h>
#include <unistd.h>
#include <signal.h>
#include <sys/mman.h>
#include <pthread.h>
#include <mqueue.h>
#else /* __XENO_SIM */
#include <posix/posix.h>
#endif /* __XENO_SIM */
void warn_upon_switch(){
printf("Switched to Secondary Mode \n");
}
void *threadFunc(void *arg)
{
char *str;
int i = 0;
struct timespec delay, sleep;
unsigned long over;
int ret;
str=(char*)arg;
printf("In thread \n");
sleep.tv_sec = 1;
sleep.tv_nsec = 0;
#ifdef __XENO__
ret = pthread_set_mode_np(0, 0x00040000);
printf("Warn Bit Ret %d\n", ret);
#endif /* __XENO__ */
// run this for some arbitrary time
while(i < 110000000 )
{
clock_nanosleep(CLOCK_REALTIME, 0, &sleep, NULL);
printf("threadFunc says: %s\n",str);
++i;
}
return NULL;
}
int main(void)
{
signal(SIGXCPU, warn_upon_switch);
signal(SIGKILL, warn_upon_switch);
pthread_t pth;
double i = 0;
int ret;
pthread_attr_t tattr;
struct sched_param sparam;
sparam.sched_priority = 99;
ret = pthread_attr_init(&tattr);
printf("Init Return Val %d\n", ret);
ret = pthread_setschedparam(pth,SCHED_FIFO, &sparam);
printf("SetSchedParam Ret Value %d\n", ret);
pthread_create(&pth,&tattr,threadFunc,"foo");
printf("main waiting for thread to terminate...\n");
pthread_join(pth,NULL);
return 0;
}
I'm also monitoring /proc/xenomai/stat continuously through watch
I see that CSWand MSW for PID 3323 changes continuously.
Here's the output of ps -e -o class,rtprio,pri,nice,cmd | grep ./main_posix
The output is as follows
My questions are as follows
How do I know if my program is running in primary or secondary mode?
I get the return value of ret = pthread_setschedparam(pth,SCHED_FIFO, &sparam); as 16 which is EBUSY. Any idea why?
Tried catching the switch signal using signal(SIGXCPU, warn_upon_switch);. The function never gets called.
If the program can be seen in Linux (meaning it gets a PID through the Linux kernel), does it mean its running in secondary mode?
In proc/xenomai/stat, I see two processes for the same program. Is it the main and the thread?
Here are some resources I used
Periodic thread fails real-time in Xenomai
Xenomai clock_nanosleep in POSIX skin jumps to Linux Kernel
http://xenomai.org/2014/08/porting-a-linux-application-to-xenomai-dual-kernel/#Using_the_PTHREAD_WARNSW_bit
http://www.xenomai.org/documentation/xenomai-2.6/html/api/sigxcpu_8c-example.html