int __init hello_init(void)
{
RTIME sampling;
rt_printk(KERN_INFO "TESTE - *************************** INICIO *******************************\n");
rt_task_init(&Task_1, signalIchi, 0, 3000, 0, 0, NULL);
rt_task_init(&Task_2, signalNi, 0, 3000, 0, 0, NULL);
rt_task_init(&Task_3, signalSan, 0, 3000, 0, 0, NULL);
sampling = start_rt_timer(nano2count(TICK));
rt_sem_init(&rMutex, 1);
rt_task_make_periodic(&Task_1, rt_get_time() + sampling * 16, sampling * 16);
rt_task_make_periodic(&Task_2, rt_get_time() + sampling * 18, sampling * 18);
rt_task_make_periodic(&Task_3, rt_get_time() + sampling * 30, sampling * 30);
rt_change_prio(&Task_1, 2);
rt_change_prio(&Task_2, 1);
rt_change_prio(&Task_3, 3);
rt_printk(KERN_INFO "Init module function\n");
return 0;
}
void *signalSan(void *arg)
{
RT_TASK *Task_3;
unsigned long Task_3_name = nam2num("TSK_3") + i++;
time_t aclock;
time_t clockNow;
int timeEx, begin_3;
int count = 0;
struct tm *newtime;
Task_3 = rt_task_init(Task_3_name, 0, 0, 0);
// if(!(Task_3 = rt_task_init_schmod(Task_3_name,3,0,0,SCHED_FIFO,1))) {
// printf("CANNOT INIT HANDLER TASK > Task 3 <\n");
// exit(1);
// }
rt_allow_nonroot_hrt();
rt_make_hard_real_time();
rt_task_make_periodic(Task_3, rt_get_time(), sampling * 30);
rt_change_prio(Task_3, 3);
begin_3 = begin;
while (count < 20) {
rt_sem_wait(rMutex);
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
printf(" Signal 3 =======> %s", asctime(newtime));
sleep(1);
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
printf(" Signal 3 after Sleep =======> %s", asctime(newtime));
timeEx = 3600 * newtime->tm_hour + 60 * newtime->tm_min + newtime->tm_sec;
if( (timeEx - begin_3) > 15 )
printf(" Time Failure of the Signal 3\n");
else printf(" Time Correct of the Signal 3\n");
begin_3 = timeEx + (15 - (timeEx-begin)%15);
rt_sem_signal(rMutex);
rt_task_wait_period();
count++;
}
rt_make_soft_real_time();
rt_task_delete(Task_3);
return 0;
}
INTERNAL_QUAL int rtos_task_set_priority(RTOS_TASK * mytask, int priority)
{
int rv;
if (mytask->rtaitask == 0)
return -1;
// returns the *old* priority.
rv = rt_change_prio( mytask->rtaitask, priority);
if (rv == mytask->priority) {
mytask->priority = priority;
return 0;
}
return -1;
}
void *signalIchi(void *arg)
{
RT_TASK *Task_1;
unsigned long Task_1_name = nam2num("TSK_1") + i++;
time_t aclock;
time_t clockNow;
int timeEx;
int begin_1;
int count = 0;
struct tm *newtime, *timeNow;
Task_1 = rt_task_init(Task_1_name, 0, 0, 0);
// if(!(Task_1 = rt_task_init_schmod(Task_1_name,2,0,0,SCHED_FIFO,1))) {
// printf("CANNOT INIT HANDLER TASK > Task 1 <\n");
// exit(1);
// }
/**
* Allows a non root user to use the Linux POSIX soft real time process management and memory
* lock functions, and allows it to do any input-output operation from user space.
*
* Only the process itself can use this functions, it is not possible to impose the related
* transition from another process.
*/
rt_allow_nonroot_hrt();
rt_make_hard_real_time();
rt_task_make_periodic(Task_1, rt_get_time(), sampling * 16);
rt_change_prio(Task_1, 2);
begin_1 = begin;
while (count < 20) {
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
rt_sem_wait(rMutex);
printf(" Signal 1 =======> %s", asctime(newtime));
sleep(1);
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
printf(" Signal 1 after Sleep =======> %s", asctime(newtime));
timeEx = 3600 * newtime->tm_hour + 60 * newtime->tm_min + newtime->tm_sec;
if( (timeEx - begin_1) > 8 )
printf(" Time Failure of the Signal 1\n");
else printf(" Time Correct of the Signal 1\n");
begin_1 = timeEx + (8 - (timeEx-begin)%8);
rt_sem_signal(rMutex);
rt_task_wait_period();
count++;
}
rt_make_soft_real_time();
rt_task_delete(Task_1);
return 0;
}
void *init_task(void *arg)
{
RT_TASK *Task;
struct thread_param *config = (struct thread_param*) arg;
int idTask = config->idTask;
unsigned long pidTask = 0;
unsigned int cpuFrequencyAtual = 0; // KHz
RTIME Tinicio;
RTIME Tperiodo = 0; // unidade -> counts
double Tperiodo_s = 0.0;
int prioridade = config->prioridade;
// clock_t begin, end;
// double time_spent;
struct timeval tv1, tv2;
if(!(Task = rt_thread_init(idTask, prioridade, 0, SCHED_FIFO, CPU_ALLOWED)))
{
printf("[ERRO] Não foi possível criar a tarefa [%d].\n", idTask);
exit(1);
}
Tinicio = start_timeline;
Tperiodo = config->periodo;
Tperiodo_s = count2nano(Tperiodo)/1000000000.0;
rt_allow_nonroot_hrt();
rt_task_make_periodic(Task, Tinicio, Tperiodo);
rt_change_prio(Task, prioridade);
if(config->deadline > 0)
rt_set_deadline(Task, config->deadline);
pidTask = rt_cfg_get_pid(Task);
printf("[TASK %2d] [%lu] Criada com Sucesso =============== PERIODO => %llu count => %.2f segundos \n", idTask, pidTask, Tperiodo, Tperiodo_s);
cpuFrequencyAtual = rt_cfg_cpufreq_get(CPUID_RTAI);
printf("[TASK %2d] [%lu] Curr Freq: %8d Khz\n", idTask, pidTask, cpuFrequencyAtual);
//TODO: TEMPO DE COMPUTACAO - OPCAO 1
// begin = clock();
// rt_cfg_set_cpu_frequency(Task, (int) config->cpuFrequencyMin);
// end = clock();
//
// time_spent = (double)(end - begin) / CLOCKS_PER_SEC;
// printf("[TASK %2d] [%lu] SET_FREQUENCY(%8d Khz);\n", idTask, pidTask, config->cpuFrequencyMin);
// cpuFrequencyAtual = rt_cfg_cpufreq_get(CPUID_RTAI);
// printf("[TASK %2d] [%lu] Curr Freq: %8d Khz\n", idTask, pidTask, cpuFrequencyAtual);
// printf("[TASK %2d] [%lu] TEMPO DE COMPUTACAO SET FREQUENCY - USERSPACE => %.100f segundos\n", idTask, pidTask, time_spent);
//TODO: TEMPO DE COMPUTACAO - OPCAO 2
gettimeofday(&tv1, NULL);
rt_cfg_set_cpu_frequency(Task, (int) config->cpuFrequencyMin);
gettimeofday(&tv2, NULL);
printf("[TASK %2d] [%lu] SET_FREQUENCY(%8d Khz);\n", idTask, pidTask, config->cpuFrequencyMin);
cpuFrequencyAtual = rt_cfg_cpufreq_get(CPUID_RTAI);
printf("[TASK %2d] [%lu] Curr Freq: %8d Khz\n", idTask, pidTask, cpuFrequencyAtual);
printf("[TASK %2d] [%lu] TEMPO DE COMPUTACAO SET FREQUENCY - USERSPACE => %.50f segundos\n", idTask, pidTask, (double) (tv2.tv_usec - tv1.tv_usec) / 1000000 +
(double) (tv2.tv_sec - tv1.tv_sec));
rt_task_delete(Task);
return 0;
}