mart/xenomai/ex03/ex03c2.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 demo_task;
  12 RT_SEM semGlobal;
  13
  14 void demo(void *arg)
  15 {
  16   RT_TASK *curtask;
  17   RT_TASK_INFO curtaskinfo;
  18
  19   // inquire current task
  20   curtask=rt_task_self();
  21   rt_task_inquire(curtask,&curtaskinfo);
  22
  23   rt_sem_p(&semGlobal,TM_INFINITE);
  24
  25   // print task name
  26   int num = * (int *)arg;
  27   rt_printf("Task name : %s \n", curtaskinfo.name);
  28 }
  29
  30 int main(int argc, char* argv[])
  31 {
  32   char  str[10] ;
  33   int i;
  34
  35   // Perform auto-init of rt_print buffers if the task doesn't do so
  36   rt_print_auto_init(1);
  37
  38   // Lock memory : avoid memory swapping for this program
  39   mlockall(MCL_CURRENT|MCL_FUTURE);
  40
  41   /* create semaphore */
  42   rt_sem_create(&semGlobal,"semaphore",0,S_PRIO);
  43
  44   rt_printf("start task\n");
  45
  46   for (i=0; i<5; i++)
  47   {
  48           /*
  49            * Arguments: &task,
  50            *            name,
  51            *            stack size (0=default),
  52            *            priority,
  53            *            mode (FPU, start suspended, ...)
  54            */
  55           sprintf(str,"hello-%d",i);
  56           rt_task_create(&demo_task, str, 0, 50+i, 0);
  57
  58           /*
  59            * Arguments: &task,
  60            *            task function,
  61            *            function argument
  62            */
  63           rt_task_start(&demo_task, &demo, &i);
  64   }
  65
  66   rt_sem_broadcast(&semGlobal);
  67
  68 }