mart/xenomai/ex03/ex03c.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 RT_TASK task[5];
  12 RT_SEM sem;
  13
  14 void demo(void *arg)
  15 {
  16         int num = * (int *)arg;
  17         RT_TASK *curtask;
  18         RT_TASK_INFO curtaskinfo;
  19         curtask=rt_task_self();
  20         rt_task_inquire(curtask, &curtaskinfo);
  21         rt_sem_p(&sem, TM_INFINITE);
  22         rt_printf("Task name: %s - Argument %d\n", curtaskinfo.name, num);
  23         rt_sem_v(&sem);
  24 }
  25
  26 int main(int argc, char* argv[])
  27 {
  28         char str[10] ;
  29         int i;
  30
  31         rt_print_auto_init(1);
  32         mlockall(MCL_CURRENT | MCL_FUTURE);
  33         rt_printf("start task\n");
  34
  35         rt_sem_create(&sem, "sem", 0, S_FIFO);
  36
  37         for (i=0; i<5; i++)
  38         {
  39                 sprintf(str, "hello-%d", i);
  40                 rt_task_create(&task[i], str, 0, 50+i, 0);
  41                 rt_task_start(&task[i], &demo, &i);
  42         }
  43 //      rt_sem_v(&sem);
  44         rt_sem_broadcast(&sem);
  45 }