mart/ex06/ex06a.c

   1 #include <stdio.h>
   2 #include <signal.h>
   3 #include <unistd.h>
   4 #include <sys/mman.h>
   5
   6 #include <native/task.h>
   7 #include <native/timer.h>
   8 #include <native/sem.h>
   9
  10 #include <rtdk.h>
  11 #include <sys/io.h>
  12
  13 #define NTASKS 3
  14
  15 #define BASEPERIOD 0   // baseperiod 0 to get ns
  16
  17 #define EXECTIME   2e8   // execution time in ns
  18 #define SPINTIME   1e7   // spin time in ns
  19
  20 RT_TASK demo_task[NTASKS];
  21 RT_SEM mysync;
  22
  23 void demo(void *arg)
  24 {
  25         RTIME starttime;
  26         RTIME runtime;
  27         int num = *(int *)arg;
  28         RT_TASK *curtask;
  29         RT_TASK_INFO curtaskinfo;
  30
  31         rt_printf("Task: %d\n", num);
  32
  33         rt_sem_p(&mysync, TM_INFINITE);
  34
  35         runtime = 0;
  36         while(runtime < EXECTIME) {
  37                 rt_timer_spin(SPINTIME);  // spin cpu doing nothing
  38                 runtime = runtime + SPINTIME;
  39                 rt_printf("Running Task: %d at ms: %d\n", num, runtime/1000000);
  40         }
  41         rt_printf("End Task: %d\n", num);
  42 }
  43
  44 //startup code
  45 void startup()
  46 {
  47         int i;
  48         char  str[10] ;
  49
  50         // semaphore to sync task startup on
  51         rt_sem_create(&mysync, "MySemaphore", 0, S_FIFO);
  52
  53         // set timing to ns
  54         rt_timer_set_mode(BASEPERIOD);
  55
  56         for(i = 0; i < NTASKS; i++) {
  57                 rt_printf("start task: %d\n",i);
  58                 sprintf(str,"task%d",i);
  59                 rt_task_create(&demo_task[i], str, 0, 50+i, 0);
  60                 rt_task_start(&demo_task[i], &demo, &i);
  61         }
  62
  63         rt_printf("wake up all tasks\n");
  64         rt_sem_broadcast(&mysync);
  65 }
  66
  67 void init_xenomai() {
  68         /* Avoids memory swapping for this program */
  69         mlockall(MCL_CURRENT|MCL_FUTURE);
  70
  71         /* Perform auto-init of rt_print buffers if the task doesn't do so */
  72         rt_print_auto_init(1);
  73 }
  74
  75 int main(int argc, char* argv[])
  76 {
  77         printf("\nType CTRL-C to end this program\n\n" );
  78
  79         // code to set things to run xenomai
  80         init_xenomai();
  81
  82         //startup code
  83         startup();
  84
  85         // wait for CTRL-c is typed to end the program
  86         pause();
  87 }