mart/ex06/ex06c.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 int switch_happened = 0;
  23
  24 void demo(void *arg)
  25 {
  26         RTIME starttime;
  27         RTIME runtime;
  28         int num = *(int *)arg;
  29         RT_TASK *curtask;
  30         RT_TASK_INFO curtaskinfo;
  31
  32         rt_printf("Task: %d\n", num);
  33
  34         rt_sem_p(&mysync, TM_INFINITE);
  35
  36         runtime = 0;
  37         while(runtime < EXECTIME) {
  38                 if(num == 2 && runtime >= EXECTIME/2 && switch_happened == 0){
  39                         rt_task_set_priority(&demo_task[1], 51+10);
  40                         rt_task_set_priority(&demo_task[0], 50+10);
  41                         switch_happened = 1;
  42                 }
  43                 rt_timer_spin(SPINTIME);  // spin cpu doing nothing
  44                 runtime = runtime + SPINTIME;
  45                 rt_printf("Running Task: %d at ms: %d\n", num, runtime/1000000);
  46         }
  47         rt_printf("End Task: %d\n", num);
  48 }
  49
  50 //startup code
  51 void startup()
  52 {
  53         int i;
  54         char  str[10] ;
  55
  56         // semaphore to sync task startup on
  57         rt_sem_create(&mysync, "MySemaphore", 0, S_FIFO);
  58
  59         // set timing to ns
  60         rt_timer_set_mode(BASEPERIOD);
  61
  62         for(i = 0; i < NTASKS; i++) {
  63                 rt_printf("start task: %d\n",i);
  64                 sprintf(str,"task%d",i);
  65                 rt_task_create(&demo_task[i], str, 0, 50+i, 0);
  66                 rt_task_start(&demo_task[i], &demo, &i);
  67         }
  68
  69         rt_printf("wake up all tasks\n");
  70         rt_sem_broadcast(&mysync);
  71 }
  72
  73 void init_xenomai() {
  74         /* Avoids memory swapping for this program */
  75         mlockall(MCL_CURRENT|MCL_FUTURE);
  76
  77         /* Perform auto-init of rt_print buffers if the task doesn't do so */
  78         rt_print_auto_init(1);
  79 }
  80
  81 int main(int argc, char* argv[])
  82 {
  83         printf("\nType CTRL-C to end this program\n\n" );
  84
  85         // code to set things to run xenomai
  86         init_xenomai();
  87
  88         //startup code
  89         startup();
  90
  91         // wait for CTRL-c is typed to end the program
  92         pause();
  93 }