natanael/ex02/ex02d.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 RT_TASK demo_task;
  11
  12 void demo(void *arg)
  13 {
  14   RT_TASK *curtask;
  15   RT_TASK_INFO curtaskinfo;
  16   // Read system clock
  17   RTIME period = 1e9;
  18   rt_task_sleep(period);
  19
  20   // inquire current task
  21   curtask=rt_task_self();
  22   rt_task_inquire(curtask,&curtaskinfo);
  23
  24   // determine the period
  25   int num = *(int *)arg;
  26   period *= num;
  27   rt_task_set_periodic(NULL, TM_NOW, period);
  28
  29   while(1){
  30           rt_printf("Task name: %s - Period %d\n", curtaskinfo.name, num);
  31           rt_task_wait_period(NULL);
  32   }
  33 }
  34
  35 int main(int argc, char* argv[])
  36 {
  37   char  str[10] ;
  38   int i;
  39   int periods[3];
  40
  41   rt_print_auto_init(1);
  42   mlockall(MCL_CURRENT | MCL_FUTURE);
  43   rt_printf("start task\n");
  44
  45   for (i=0; i<3; i++)
  46   {
  47           sprintf(str, "hello-%d", i);
  48           periods[i] = i + 1;
  49           rt_task_create(&demo_task, str, 0, 50, 0);
  50           rt_task_start(&demo_task, &demo, &periods[i]);
  51   }
  52
  53   rt_printf("end program by CTRL-C\n");
  54   pause();
  55 }