mart/xenomai/ex09/ex09a2.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/intr.h>
   9
  10 #include <rtdk.h>
  11
  12 #define KBDIRQ 1
  13
  14 RT_TASK task;
  15 RT_TASK dummy_task;
  16
  17 void dummy_task_function(void *arg)
  18 {
  19         int i;
  20         while(1){
  21                 rt_task_sleep(1e7); //let linux system have time to kill the program
  22                 rt_printf("Dummy task spinning\n");
  23                 rt_timer_spin(1e9);
  24                 rt_printf("Dummy task stopped\n");
  25         }
  26 }
  27
  28 void keyboard_handler(void *arg)
  29 {
  30         RT_INTR intr;
  31         RT_TASK *ctask;
  32         RT_TASK_INFO ctaskinfo;
  33         ctask = rt_task_self();
  34         rt_intr_create(&intr, "keyboard handler", KBDIRQ, I_PROPAGATE);
  35         int kps = 0;
  36         while(1){
  37                 rt_printf("Kbd interrupts: %d\n", kps += rt_intr_wait(&intr, TM_INFINITE));
  38                 rt_task_inquire(ctask, &ctaskinfo);
  39                 rt_printf("Prio: %d\n", ctaskinfo.cprio);
  40         }
  41 }
  42
  43 int main(int argc, char* argv[])
  44 {
  45         rt_print_auto_init(1);
  46
  47         mlockall(MCL_CURRENT | MCL_FUTURE);
  48
  49         rt_task_create(&task, "task", 0, 50, 0);
  50         rt_task_create(&dummy_task, "dummy_task", 0, 51, 0);
  51
  52         rt_task_start(&task, &keyboard_handler, 0);
  53         rt_task_start(&dummy_task, &dummy_task_function, 0);
  54
  55         rt_printf("CRTL+C to stop\n");
  56         pause();
  57 }