void demo(void *arg)
{
//Round Robin
rt_task_set_mode(0,T_RRB,NULL);
rt_task_slice(NULL,15); //time slice in jiffies
RTIME starttime, runtime;
int num=*(int *)arg;
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
rt_printf("Task : %d\n",num);
rt_sem_p(&mysync,TM_INFINITE);
// let the task run RUNTIME(=200) jiffies in steps of SPINTIME(=20) jiffies
runtime = 0;
while(runtime < EXECTIME) {
rt_timer_spin(SPINTIME*BASEPERIOD); // spin cpu doing nothing
// note: rt_timer_spin function does not accept jiffies only nanoseconds
// deviates from timing conventions throughout the Xenomai API
runtime = runtime + SPINTIME;
rt_printf("Running Task : %d at time : %d\n",num,runtime);
}
rt_printf("End Task : %d\n",num);
}
static void rr_task(void *arg)
{
int ret, n;
traceobj_enter(&trobj);
ret = rt_task_slice(NULL, RR_QUANTUM);
traceobj_check(&trobj, ret, 0);
ret = rt_sem_p(&sem, TM_INFINITE);
traceobj_check(&trobj, ret, 0);
for (n = 0; n < 1000000; n++) {
d *= 0.99;
f = d / 16;
}
traceobj_exit(&trobj);
}
//startup code
void startup()
{
int i;
char str[10] ;
// semaphore to sync task startup on
rt_sem_create(&mysync, "MySemaphore", 0, S_FIFO);
// change to period mode because round robin does not work
// in one shot mode
rt_timer_set_mode(BASEPERIOD);// set tick period
for(i = 0; i < NTASKS; i++) {
rt_printf("start task: %d\n", i);
sprintf(str, "task%d", i);
rt_task_create(&demo_task[i], str, 0, 50, 0);
rt_task_slice(&demo_task[i], 1);
rt_task_start(&demo_task[i], &demo, &i);
}
rt_printf("wake up all tasks\n");
rt_sem_broadcast(&mysync);
}
