148 lines
3.3 KiB
C
148 lines
3.3 KiB
C
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <unistd.h>
|
|
#include <string.h>
|
|
#include <sys/types.h>
|
|
#include <sys/mman.h>
|
|
#include <sys/stat.h>
|
|
#include <fcntl.h>
|
|
#include <sched.h>
|
|
|
|
|
|
#include <rtai_lxrt.h>
|
|
#include <rtai_sem.h>
|
|
#include <rtai_msg.h>
|
|
|
|
#define PERIOD 100000000
|
|
#define THRESHOLD 1
|
|
|
|
static SEM *mutex;
|
|
static CND *cond;
|
|
|
|
static int thread0;
|
|
static int thread1;
|
|
|
|
static int instance_cnt=-1; //0 means worker is busy, -1 means its free
|
|
|
|
static void *fun0(void *arg)
|
|
{
|
|
RT_TASK *task;
|
|
int done1=0, cnt1=0;
|
|
RTIME right_now;
|
|
int ret;
|
|
|
|
task = rt_task_init_schmod(nam2num("TASK0"), 0, 0, 0, SCHED_FIFO, 0xF);
|
|
mlockall(MCL_CURRENT | MCL_FUTURE);
|
|
|
|
rt_make_hard_real_time();
|
|
|
|
while (cnt1 < THRESHOLD)
|
|
{
|
|
rt_sem_wait(mutex);
|
|
rt_printk("fun0: Hello World %d, instance_cnt %d!\n",cnt1,instance_cnt);
|
|
while (instance_cnt<0)
|
|
{
|
|
ret = rt_cond_wait(cond, mutex);
|
|
if (ret != 0)
|
|
{
|
|
rt_printk("error in rt_cond_wait, code %d\n",ret);
|
|
switch (ret)
|
|
{
|
|
case RTE_PERM:
|
|
rt_printk("error RTE_PERM %d\n",ret);
|
|
break;
|
|
case RTE_UNBLKD:
|
|
rt_printk("error RTE_UNBLKD %d\n",ret);
|
|
break;
|
|
case RTE_OBJREM:
|
|
rt_printk("error RTE_OBJREM %d\n",ret);
|
|
break;
|
|
default:
|
|
rt_printk("unknown error code %d\n",ret);
|
|
break;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
rt_sem_signal(mutex);
|
|
|
|
// do some work here
|
|
cnt1++;
|
|
|
|
rt_sem_wait(mutex);
|
|
instance_cnt--;
|
|
rt_sem_signal(mutex);
|
|
|
|
}
|
|
// makes task soft real time
|
|
rt_make_soft_real_time();
|
|
|
|
printf("Back to soft RT\n");
|
|
// clean task
|
|
rt_task_delete(task);
|
|
printf("Task deleted. returning\n");
|
|
return 0;
|
|
}
|
|
|
|
|
|
int main(void)
|
|
{
|
|
RT_TASK *task;
|
|
RTIME now;
|
|
int cnt=0;
|
|
|
|
// make main thread LXRT soft realtime
|
|
task = rt_task_init_schmod(nam2num("MYTASK"), 9, 0, 0, SCHED_FIFO, 0xF);
|
|
mlockall(MCL_CURRENT | MCL_FUTURE);
|
|
|
|
// start realtime timer and scheduler
|
|
//rt_set_oneshot_mode();
|
|
rt_set_periodic_mode();
|
|
start_rt_timer(0);
|
|
|
|
now = rt_get_time() + 10*PERIOD;
|
|
rt_task_make_periodic(task, now, PERIOD);
|
|
|
|
printf("Init mutex and cond.\n");
|
|
mutex = rt_sem_init(nam2num("MUTEX"), 1);
|
|
if (mutex==0)
|
|
printf("Error init mutex\n");
|
|
|
|
cond = rt_cond_init(nam2num("CONDITION"));
|
|
if (cond==0)
|
|
printf("Error init cond\n");
|
|
|
|
thread0 = rt_thread_create(fun0, NULL, 10000);
|
|
//thread1 = rt_thread_create(fun1, NULL, 20000);
|
|
|
|
//rt_sleep(PERIOD);
|
|
|
|
while (cnt < THRESHOLD)
|
|
{
|
|
rt_task_wait_period();
|
|
rt_printk("main: Hello World %d!\n",cnt);
|
|
rt_sem_wait(mutex); //now the mutex should have value 0
|
|
if (instance_cnt==0)
|
|
{
|
|
rt_sem_signal(mutex); //now the mutex should have vaule 1
|
|
rt_printk("worker thread busy!\n");
|
|
}
|
|
else
|
|
{
|
|
instance_cnt++;
|
|
rt_cond_signal(cond);
|
|
rt_sem_signal(mutex); //now the mutex should have vaule 1
|
|
rt_printk("signaling worker thread to start!\n");
|
|
}
|
|
cnt++;
|
|
}
|
|
|
|
// wait for end of program
|
|
printf("TYPE <ENTER> TO TERMINATE\n");
|
|
getchar();
|
|
|
|
// cleanup
|
|
stop_rt_timer();
|
|
return 0;
|
|
}
|