mart/xenomai/ex03/ex03a.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
  12 #define ITER 10
  13
  14 static RT_TASK  t1;
  15 static RT_TASK  t2;
  16
  17 int global = 0;
  18
  19 void taskOne(void *arg)
  20 {
  21         int i;
  22         for (i=0; i < ITER; i++)
  23         {
  24                 rt_printf("I am taskOne and global = %d................\n", ++global);
  25         }
  26 }
  27
  28 void taskTwo(void *arg)
  29 {
  30         int i;
  31         for (i=0; i < ITER; i++)
  32         {
  33                 rt_printf("I am taskTwo and global = %d----------------\n", --global);
  34         }
  35 }
  36
  37 int main(int argc, char* argv[])
  38 {
  39         /* Perform auto-init of rt_print buffers if the task doesn't do so */
  40         rt_print_auto_init(1);
  41
  42         /* Avoids memory swapping for this program */
  43         mlockall(MCL_CURRENT|MCL_FUTURE);
  44
  45         /* create the two tasks */
  46         rt_task_create(&t1, "task1", 0, 1, 0);
  47         rt_task_create(&t2, "task2", 0, 1, 0);
  48
  49         /* start the two tasks */
  50         rt_task_start(&t1, &taskOne, 0);
  51         rt_task_start(&t2, &taskTwo, 0);
  52
  53         return 0;
  54 }