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   sleep(1);
  15   RT_TASK *curtask;
  16   RT_TASK_INFO curtaskinfo;
  17   // Read system clock
  18   RTIME period = 1e9;
  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           // print task name
  31           rt_printf("Task name : %s - Period %d \n", curtaskinfo.name,num);
  32           rt_task_wait_period(NULL);
  33   }
  34 }
  35
  36 int main(int argc, char* argv[])
  37 {
  38   char  str[10] ;
  39   int i;
  40   int periods[3];
  41
  42   // Perform auto-init of rt_print buffers if the task doesn't do so
  43   rt_print_auto_init(1);
  44
  45   // Lock memory : avoid memory swapping for this program
  46   mlockall(MCL_CURRENT|MCL_FUTURE);
  47
  48   rt_printf("start task\n");
  49
  50   for (i=0; i<3; i++)
  51   {
  52           /*
  53            * Arguments: &task,
  54            *            name,
  55            *            stack size (0=default),
  56            *            priority,
  57            *            mode (FPU, start suspended, ...)
  58            */
  59           sprintf(str,"hello-%d",i);
  60           periods[i]=i+1;
  61           rt_task_create(&demo_task, str, 0, 50, 0);
  62
  63           /*
  64            * Arguments: &task,
  65            *            task function,
  66            *            function argument
  67            */
  68           rt_task_start(&demo_task, &demo, &periods[i]);
  69   }
  70   rt_printf("end program by CTRL-C\n");
  71   pause();
  72 }