mart/xenomai/ex03/ex03b.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 RT_SEM sem;
  17
  18 int global = 0;
  19
  20 void taskOne(void *arg)
  21 {
  22         int i;
  23         for (i=0; i < ITER; i++)
  24         {
  25                 rt_sem_p(&sem, TM_INFINITE);
  26                 rt_printf("I am taskOne and global = %d................\n", ++global);
  27                 rt_sem_v(&sem);
  28         }
  29 }
  30
  31 void taskTwo(void *arg)
  32 {
  33         int i;
  34         for (i=0; i < ITER; i++)
  35         {
  36                 rt_sem_p(&sem, TM_INFINITE);
  37                 rt_printf("I am taskTwo and global = %d----------------\n", --global);
  38                 rt_sem_v(&sem);
  39         }
  40 }
  41
  42 int main(int argc, char* argv[])
  43 {
  44         /* Perform auto-init of rt_print buffers if the task doesn't do so */
  45         rt_print_auto_init(1);
  46
  47         /* Avoids memory swapping for this program */
  48         mlockall(MCL_CURRENT|MCL_FUTURE);
  49
  50         /* create the two tasks */
  51         rt_task_create(&t1, "task1", 0, 1, 0);
  52         rt_task_create(&t2, "task2", 0, 1, 0);
  53
  54         /* create semaphore and start in blocked mode */
  55         rt_sem_create(&sem, "sem", 0, S_FIFO);
  56
  57         /* start the two tasks */
  58         rt_task_start(&t1, &taskOne, 0);
  59         rt_task_start(&t2, &taskTwo, 0);
  60
  61         /* release the semaphore */
  62         rt_sem_v(&sem);
  63         return 0;
  64 }