--- /dev/null
+###### CONFIGURATION ######
+
+### List of applications to be build
+APPLICATIONS = ex01
+
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
+
+
+### List of modules to be build
+MODULES = ex01
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lnative
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+LDFLAGS+= -lrtdk
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### SPECIAL TARGET RULES ######
+rtprint: rtprint.c
+ $(CC) $(CFLAGS) $? $(LDFLAGS) -lrtdk -o $@
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
+ $(RM) -R .tmp*
+
+endif
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+
+void demo(void *arg)
+{
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+
+ // hello world
+ rt_printf("Hello World!\n");
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ // print task name
+ rt_printf("Task name : %s \n", curtaskinfo.name);
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rt_printf("start task\n");
+
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello");
+ rt_task_create(&demo_task, str, 0, 50, 0);
+
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, 0);
+}
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+
+#include <rtdk.h>
+#include <errno.h>
+RT_TASK demo_task;
+
+void demo(void *arg)
+{
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+ int retval;
+
+ // hello world
+ rt_printf("Hello World!\n");
+
+ // inquire current task
+ // below is commented and makes error
+ // curtask=rt_task_self();
+ retval = rt_task_inquire(curtask,&curtaskinfo);
+
+ /* send error message */
+ if (retval < 0 )
+ {
+ rt_printf("Sending error %d : %s\n",-retval,strerror(-retval));
+ } else {
+ rt_printf("taskOne sent message to taskTwo\n");
+ }
+
+ // print task name
+ rt_printf("Task name : %s \n", curtaskinfo.name);
+
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rt_printf("start task\n");
+
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello");
+ rt_task_create(&demo_task, str, 0, 50, 0);
+
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, 0);
+}
\ No newline at end of file
--- /dev/null
+DES group members:
+Natanael Adityasatria 4417992
+Mart Lubbers
+
+2a
+The output describes the first task is the task that is first executed by the syntax rt_task_start. So the task order is ordered from the source code's order (in this case: inside loop, the lowest counter will be run first)
+
+2b
+The output describes that we can pass the integer argument that belongs to the task. In addition to the task name (string), the task can also has an integer value.
+
+2c
+There is no differences in the output with the exercise 2b.
+The order is the same as in exercise 2b.
+From the source code, this is because we put each of tasks in a loop.
+So the first task created and the first task started in the loop will
+be run first time. For the next loop, it will create and start the
+next task. So it is like the matter of the code order not the task
+priority.
+
+2d
+It is because we use Sleep of 1 second then the loop(while) will be run every one second. All tasks have the same priority, but each of tasks has different periods.
+The first task that has period of 1 will be run every seconds while the task that has period of 2 will be run once in two seconds. In addition, the task that has period of 3 will be run once in three seconds.
\ No newline at end of file
--- /dev/null
+###### CONFIGURATION ######
+
+### List of applications to be build
+APPLICATIONS = ex02
+
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
+
+
+### List of modules to be build
+MODULES = ex02
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lnative
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+LDFLAGS+= -lrtdk
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### SPECIAL TARGET RULES ######
+rtprint: rtprint.c
+ $(CC) $(CFLAGS) $? $(LDFLAGS) -lrtdk -o $@
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
+ $(RM) -R .tmp*
+
+endif
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+
+void demo(void *arg)
+{
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ // print task name
+ rt_printf("Task name : %s \n", curtaskinfo.name);
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+ int i;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rt_printf("start task\n");
+
+ for (i=0; i<5; i++)
+ {
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello-%d",i);
+ rt_task_create(&demo_task, str, 0, 50, 0);
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, 0);
+ }
+
+}
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+
+void demo(void *arg)
+{
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ // print task name
+ int num = * (int *)arg;
+ rt_printf("Task name : %s - Argument %d \n", curtaskinfo.name,num);
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+ int i;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rt_printf("start task\n");
+
+ for (i=0; i<5; i++)
+ {
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello-%d",i);
+ rt_task_create(&demo_task, str, 0, 50, 0);
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, &i);
+ }
+
+}
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+
+void demo(void *arg)
+{
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ // print task name
+ int num = * (int *)arg;
+ rt_printf("Task name : %s - Argument %d \n", curtaskinfo.name,num);
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+ int i;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rt_printf("start task\n");
+
+ for (i=0; i<5; i++)
+ {
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello-%d",i);
+ rt_task_create(&demo_task, str, 0, 50+i, 0);
+
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, &i);
+ }
+
+}
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+
+void demo(void *arg)
+{
+ sleep(1);
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+ // Read system clock
+ RTIME period = 1e9;
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ // determine the period
+ int num = * (int *)arg;
+ period*=num;
+ rt_task_set_periodic(NULL,TM_NOW,period);
+
+ while(1){
+ // print task name
+ rt_printf("Task name : %s - Period %d \n", curtaskinfo.name,num);
+ rt_task_wait_period(NULL);
+ }
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+ int i;
+ int periods[3];
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rt_printf("start task\n");
+
+ for (i=0; i<3; i++)
+ {
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello-%d",i);
+ periods[i]=i+1;
+ rt_task_create(&demo_task, str, 0, 50, 0);
+
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, &periods[i]);
+ }
+ rt_printf("end program by CTRL-C\n");
+ pause();
+}
\ No newline at end of file
repositories / des2015.git / commitdiff