int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
unsigned long abstime) {
waitqueue_t entry;
timer_t timer = { 0, (void (*)(void*)) make_running, ctid };
tid_t owner;
int result = 0;
// check if mutex is available, if not, go to sleep
grab_kernel_lock();
entry.thread = ctid;
add_to_waitqueue(&cond->waiters, &entry);
pthread_mutex_unlock(mutex);
if (abstime)
add_timer(abstime - get_system_up_time(), &timer);
wait();
if (abstime) {
if (get_timer_count(timer))
remove_timer(&timer);
else
result = ETIMEDOUT;
}
remove_from_waitqueue(&entry);
pthread_mutex_lock(mutex);
return 0;
}
/* read from fd */
ssize_t DEVICE::read(void *buf, size_t len)
{
ssize_t read_len ;
get_timer_count();
read_len = d_read(m_fd, buf, len);
last_tick = get_timer_count();
DevReadTime += last_tick;
VolCatInfo.VolReadTime += last_tick;
if (read_len > 0) { /* skip error */
DevReadBytes += read_len;
}
return read_len;
}
/* write to fd */
ssize_t DEVICE::write(const void *buf, size_t len)
{
ssize_t write_len ;
get_timer_count();
write_len = d_write(m_fd, buf, len);
last_tick = get_timer_count();
DevWriteTime += last_tick;
VolCatInfo.VolWriteTime += last_tick;
if (write_len > 0) { /* skip error */
DevWriteBytes += write_len;
}
return write_len;
}
void main(void){
//------------------------------------------------------------------------------
// Main Program
// This is the main routine for the program. Execution of code starts here.
// The operating system is Back Ground Fore Ground.
//
//------------------------------------------------------------------------------
init_ports();
Init_Clocks();
Init_Conditions();
init_timers();
five_msec_delay(QUARTER_SECOND);
Init_LCD();
setup_sw_debounce();
init_adc();
P1OUT |= IR_LED;
init_serial_uart();
WDTCTL = WDTPW + WDTHOLD;
setup_pwm();
set_motor_speed(R_FORWARD, PWM_RES);
set_motor_speed(L_FORWARD, PWM_RES);
unsigned int time_sequence = START_VAL; // counter for switch loop
unsigned int previous_count = START_VAL; // automatic variable for
// comparing timer_count
unsigned int display_count = START_VAL;
is_follow_running = FALSE;
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
if(get_timer_count() > display_count + QUARTER_SECOND)
{
display_count = get_timer_count();
Display_Process();
time_sequence = START_VAL;
}
update_switches(); // Check for switch state change
update_menu();
if(is_follow_running)
run_follow();
if(uca0_is_message_received())
{
BufferString message = uca0_read_buffer(TRUE);
receive_command(message.head + message.offset);
}
if(uca1_is_message_received())
{
update_menu();
BufferString message = uca1_read_buffer(TRUE);
uca0_transmit_message(message.head, message.offset);
if(find(WIFI_COMMAND_SYMBOL, message))
{
receive_command(message.head + message.offset);
}
if(find(LOST_WIFI_COMMAND_SYMBOL, message))
{
receive_command(CONNECT_NCSU);
}
}
if(time_sequence > SECOND_AND_A_QUARTER)
time_sequence = START_VAL;
unsigned int current_timer_count = get_timer_count();
if(current_timer_count > previous_count)
{
previous_count = current_timer_count % UINT_16_MAX;
time_sequence++;
}
}
//------------------------------------------------------------------------------
}