mart/ex02/ex02d.c

   1 #include <stdint.h>
   2 #include <stdio.h>
   3 #include <signal.h>
   4 #include <unistd.h>
   5 #include <sys/mman.h>
   6
   7 #include <native/task.h>
   8 #include <native/timer.h>
   9
  10 #include <rtdk.h>
  11
  12 RT_TASK task1, task2, task3;
  13
  14 void demo(void *arg)
  15 {
  16         uint64_t waiting_time = *(int *)arg * 100000000;
  17         rt_task_set_periodic(NULL, TM_NOW, waiting_time);
  18         rt_printf("Waiting time: %d\n", waiting_time);
  19         RT_TASK *curtask;
  20         RT_TASK_INFO curtaskinfo;
  21         curtask=rt_task_self();
  22         rt_task_inquire(curtask, &curtaskinfo);
  23         while(1){
  24                 rt_printf("Task name: %s\n", curtaskinfo.name);
  25                 rt_task_wait_period(NULL);
  26         }
  27 }
  28
  29 int main(int argc, char* argv[])
  30 {
  31         rt_print_auto_init(1);
  32         mlockall(MCL_CURRENT|MCL_FUTURE);
  33         rt_printf("start task\n");
  34
  35         rt_task_create(&task1, "t1", 0, 50, 0);
  36         rt_task_create(&task2, "t2", 0, 50, 0);
  37         rt_task_create(&task3, "t3", 0, 50, 0);
  38
  39         int num1 = 1;
  40         int num2 = 2;
  41         int num3 = 3;
  42
  43         rt_task_start(&task1, &demo, (void *)&num1);
  44         rt_task_start(&task2, &demo, (void *)&num2);
  45         rt_task_start(&task3, &demo, (void *)&num3);
  46
  47         rt_printf("end program with CRTL+C\n");
  48         pause();
  49 }