natanael/ex01/ex01b.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
   9 #include  <rtdk.h>
  10 #include <errno.h>
  11 RT_TASK demo_task;
  12
  13 void demo(void *arg)
  14 {
  15   RT_TASK *curtask;
  16   RT_TASK_INFO curtaskinfo;
  17   int retval;
  18
  19   // hello world
  20   rt_printf("Hello World!\n");
  21
  22   // inquire current task
  23   // below is commented and makes error
  24   // curtask=rt_task_self();
  25   retval = rt_task_inquire(curtask,&curtaskinfo);
  26
  27   /* send error message */
  28   if (retval < 0 )
  29   {
  30       rt_printf("Sending error %d : %s\n",-retval,strerror(-retval));
  31   } else {
  32       rt_printf("taskOne sent message to taskTwo\n");
  33   }
  34
  35   // print task name
  36   rt_printf("Task name : %s \n", curtaskinfo.name);
  37
  38 }
  39
  40 int main(int argc, char* argv[])
  41 {
  42   char  str[10] ;
  43
  44   // Perform auto-init of rt_print buffers if the task doesn't do so
  45   rt_print_auto_init(1);
  46
  47   // Lock memory : avoid memory swapping for this program
  48   mlockall(MCL_CURRENT|MCL_FUTURE);
  49
  50   rt_printf("start task\n");
  51
  52   /*
  53    * Arguments: &task,
  54    *            name,
  55    *            stack size (0=default),
  56    *            priority,
  57    *            mode (FPU, start suspended, ...)
  58    */
  59   sprintf(str,"hello");
  60   rt_task_create(&demo_task, str, 0, 50, 0);
  61
  62   /*
  63    * Arguments: &task,
  64    *            task function,
  65    *            function argument
  66    */
  67   rt_task_start(&demo_task, &demo, 0);
  68 }