int main(int argc, char *argv[])
{
unsigned int plrnode, plrport;
RT_TASK *spktsk, *plrtsk;
RTIME period;
struct sockaddr_in addr;
char buf[BUFSIZE], data, temp;
unsigned int msg;
long i, len;
printf("\n\nSPECIFIC RECEIVE DIRECTLY ON REMOTE TASK\n");
ioperm(PORT_ADR, 1, 1);
if (!(spktsk = rt_task_init_schmod(nam2num("SPKTSK"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SPEAKER TASK\n");
exit(1);
}
rt_returnx(rt_receivex(0, &msg, sizeof(int), &len), &msg, 1);
plrnode = 0;
if (argc == 2 && strstr(argv[1], "PlrNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
plrnode = addr.sin_addr.s_addr;
}
if (!plrnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
plrnode = addr.sin_addr.s_addr;
}
rt_set_oneshot_mode();
start_rt_timer(0);
while ((plrport = rt_request_port(plrnode)) <= 0 && plrport != -EINVAL);
while (!(plrtsk = RT_get_adr(plrnode, plrport, "PLRTSK"))) {
rt_sleep(nano2count(10000000));
}
printf("\nSPEAKER TASK RUNNING\n");
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_task_make_periodic(spktsk, rt_get_time() + 5*period, period);
for (i = 0; i < 100; i++) {
RT_returnx(plrnode, plrport, RT_receivex(plrnode, plrport, plrtsk, &msg, sizeof(int), &len), &msg, sizeof(int));
}
len = 0;
while(1) {
if (len) {
data = filter(buf[i++]);
temp = inb(PORT_ADR);
temp &= 0xfd;
temp |= (data & 1) << 1;
outb(temp, PORT_ADR);
len--;
} else {
if (RT_evdrpx(plrnode, plrport, plrtsk, buf, BUFSIZE, &i)) {
// rt_printk("EVDRP %d\n", i);
}
if (RT_receivex_if(plrnode, plrport, plrtsk, buf, BUFSIZE, &len) == plrtsk) {
RT_returnx(plrnode, plrport, plrtsk, &len, sizeof(int));
if (len == sizeof(int) && ((int *)buf)[0] == 0xFFFFFFFF) {
break;
}
i = 0;
}
}
rt_task_wait_period();
}
rt_sleep(nano2count(100000000));
rt_make_soft_real_time();
stop_rt_timer();
rt_release_port(plrnode, plrport);
rt_task_delete(spktsk);
printf("\nSPEAKER TASK STOPS\n");
return 0;
}
static void *start_task_code(void *args)
{
int i, srvport;
char buf[9];
RT_TASK *task;
buf[8] = 0;
if (!(task = rt_thread_init(getpid(), 10, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT START_TASK BUDDY\n");
exit(1);
}
srvport = rt_request_port(comnode);
printf("START TASK GOT ITS EXEC COMNODE PORT %lx, %d\n", comnode, srvport);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
RT_SEM_SIGNAL(comnode, -srvport, sems[0]);
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_wait(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk(sync_str);
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_SEM_SIGNAL(comnode, -srvport, prio_sem);
}
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_wait(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk(sync_str);
GIVE_PRINT;
TAKE_PRINT;
rt_printk("testing message queues\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
if (RT_mbx_send(comnode, srvport, mbx_in, strs[i], 8)) {
TAKE_PRINT;
rt_printk("RT_mbx_send() failed\n");
GIVE_PRINT;
}
}
for (i = 0; i < NUM_TASKS; ++i) {
RT_mbx_receive(comnode, srvport, mbx_out, buf, 8);
TAKE_PRINT;
rt_printk("\nreceived from mbx_out: %s", buf);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_SEM_SIGNAL(comnode, -srvport, sync_sem);
}
TAKE_PRINT;
rt_printk("\ninit task complete\n");
GIVE_PRINT;
rt_make_soft_real_time();
printf("START TASK REL ITS EXEC COMNODE PORT %lx, %d\n", comnode, srvport);
RT_sem_signal(comnode, srvport, end_sem);
rt_release_port(comnode, srvport);
rt_task_delete(task);
return (void *)0;
}
static void *task_code(void *arg)
{
RT_TASK *mytask;
int task_no, i, ret, srvport;
char buf[9];
task_no = *((int *)arg);
buf[8] = 0;
if (!(mytask = rt_thread_init(nam2num(task[task_no]), NUM_TASKS - task_no, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT TASK TASK %d\n", task_no);
exit(1);
}
srvport = rt_request_port(comnode);
printf("TASK_NO %d GOT ITS EXEC COMNODE PORT %lx, %d\n", task_no, comnode, srvport);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
for (i = 0; i < 5; ++i) {
RT_sem_wait(comnode, srvport, sems[task_no]);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
if (task_no == NUM_TASKS - 1) {
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
}
RT_SEM_SIGNAL(comnode, -srvport, sems[(task_no + 1)%NUM_TASKS]);
}
RT_SEM_SIGNAL(comnode, -srvport, sync_sem);
RT_sem_wait(comnode, srvport, prio_sem);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
RT_sleep(comnode, srvport, 1000000000LL);
RT_sem_wait_timed(comnode, srvport, prio_sem, (task_no + 1)*1000000000LL);
TAKE_PRINT;
rt_printk("sem timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
RT_SEM_SIGNAL(comnode, -srvport, sync_sem);
/* message queue stuff */
if ((ret = RT_mbx_receive(comnode, srvport, mbx_in, buf, 8)) != 0) {
TAKE_PRINT;
rt_printk("RT_mbx_receive() failed with %d\n", ret);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\nreceived by task %d ", task_no);
rt_printk(buf);
GIVE_PRINT;
RT_mbx_send(comnode, srvport, mbx_out, strs[task_no], 8);
/* test receive timeout */
RT_sem_wait(comnode, srvport, sync_sem);
if (RT_mbx_receive_timed(comnode, srvport, mbx_in, buf, 8, (task_no + 1)*1000000000LL)) {
TAKE_PRINT;
rt_printk("mbx timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\ntask %d complete\n", task_no);
GIVE_PRINT;
rt_make_soft_real_time();
printf("TASK_NO %d REL ITS EXEC COMNODE PORT %lx, %d\n", task_no, comnode, srvport);
RT_sem_signal(comnode, srvport, end_sem);
rt_release_port(comnode, srvport);
rt_task_delete(mytask);
return (void *)0;
}
int main(int argc, char *argv[])
{
MBX *mbx;
SEM *sem;
RT_TASK *task;
RTIME t0, t;
int i, count, jit, maxj, test_time, hdlnode, hdlport;
struct sockaddr_in addr;
unsigned long run;
char c;
if (!(task = rt_task_init_schmod(nam2num("PRCTSK"), 1, 0, 0, SCHED_FIFO, TASK_CPU))) {
printf("CANNOT INIT PROCESS TASK\n");
exit(1);
}
hdlnode = 0;
if (argc == 2 && strstr(argv[1], "HdlNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
hdlnode = addr.sin_addr.s_addr;
}
if (!hdlnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
hdlnode = addr.sin_addr.s_addr;
}
while ((hdlport = rt_request_port(hdlnode)) <= 0 && hdlport != -EINVAL);
mbx = RT_get_adr(hdlnode, hdlport, "HDLMBX");
sem = rt_sem_init(nam2num("PRCSEM"), 0);
printf("USE: SEM SEND/WAIT (s), TASK RESM/SUSP (r), INTERTASK MSG (m): [s|r|m]? ");
scanf("%c", &c);
switch (c) {
case 'r': printf("TESTING TASK SUSPEND/RESUME TIME (s): ");
run = 2;
break;
case 'm': printf("TESTING INTERTASK SEND/RECEIVE TIME (s): ");
run = 3;
break;
default: printf("TESTING SEMAPHORE WAIT/SEND TIME (s): ");
run = 1;
break;
}
scanf("%d", &test_time);
printf("... WAIT FOR %d SECONDS (RUNNING AT %d hz).\n", test_time, 1000000000/PERIOD);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
RT_mbx_send(hdlnode, hdlport, mbx, &task, sizeof(task));
RT_mbx_send(hdlnode, hdlport, mbx, &sem, sizeof(sem));
RT_mbx_send(hdlnode, hdlport, mbx, &run, sizeof(run));
count = maxj = 0;
t0 = rt_get_cpu_time_ns();
while(++count <= test_time*(1000000000/(PERIOD*100))) {
for (i = 0; i < 100; i++) {
t = rt_get_cpu_time_ns();
if ((jit = t - t0 - PERIOD) < 0) {
jit = -jit;
}
if (count > 1 && jit > maxj) {
maxj = jit;
}
t0 = t;
switch (run) {
case 1: rt_sem_wait(sem);
break;
case 2: rt_task_suspend(task);
break;
case 3: rt_receive(0, &run);
break;
}
}
}
run = 0;
RT_mbx_send(hdlnode, hdlport, mbx, &run, sizeof(run));
rt_make_soft_real_time();
rt_release_port(hdlnode, hdlport);
rt_task_delete(task);
printf("***** MAX JITTER %3d (us) *****\n", (maxj + 499)/1000);
exit(0);
}
