mart/xenomai/ex01/ex01.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
   9 #include  <rtdk.h>
  10 RT_TASK demo_task;
  11
  12 void demo(void *arg)
  13 {
  14   RT_TASK *curtask;
  15   RT_TASK_INFO curtaskinfo;
  16
  17   // hello world
  18   rt_printf("Hello World!\n");
  19
  20   // inquire current task
  21   curtask=rt_task_self();
  22   rt_task_inquire(curtask,&curtaskinfo);
  23
  24   // print task name
  25   rt_printf("Task name : %s \n", curtaskinfo.name);
  26 }
  27
  28 int main(int argc, char* argv[])
  29 {
  30   char  str[10] ;
  31
  32   // Perform auto-init of rt_print buffers if the task doesn't do so
  33   rt_print_auto_init(1);
  34
  35   // Lock memory : avoid memory swapping for this program
  36   mlockall(MCL_CURRENT|MCL_FUTURE);
  37
  38   rt_printf("start task\n");
  39
  40   /*
  41    * Arguments: &task,
  42    *            name,
  43    *            stack size (0=default),
  44    *            priority,
  45    *            mode (FPU, start suspended, ...)
  46    */
  47   sprintf(str,"hello");
  48   rt_task_create(&demo_task, str, 0, 50, 0);
  49
  50   /*
  51    * Arguments: &task,
  52    *            task function,
  53    *            function argument
  54    */
  55   rt_task_start(&demo_task, &demo, 0);
  56 }