void
cpuexc_handler(VP p_excinf)
{
ID tskid;
syslog(LOG_NOTICE, "CPU exception handler (p_excinf = %08p).",
p_excinf);
if (sns_ctx() != TRUE) {
syslog(LOG_WARNING,
"sns_ctx() is not TRUE in CPU exception handler.");
}
if (sns_dpn() != TRUE) {
syslog(LOG_WARNING,
"sns_dpn() is not TRUE in CPU exception handler.");
}
syslog(LOG_DEBUG,
"sns_loc = %d sns_dsp = %d", (int)sns_loc(), (int)sns_dsp());
syslog(LOG_DEBUG,
"vxsns_loc = %d vxsns_ctx = %d vxsns_dsp = %d vxsns_dpn = %d",
(int)vxsns_loc(p_excinf), (int)vxsns_ctx(p_excinf),
(int)vxsns_dsp(p_excinf), (int)vxsns_dpn(p_excinf));
if (!vxsns_loc(p_excinf) && !vxsns_ctx(p_excinf)) {
syscall(iget_tid(&tskid));
syscall(iras_tex(tskid, 0x8000));
}
else {
syslog(LOG_NOTICE, "Sample program ends with exception.");
kernel_exit();
}
}
int main() {
initialize_kernel();
active = task_create(first, 0, MEDIUM);
make_ready(active);
unsigned int kernel_cpu_time = 0;
Request *req;
FineTimer timer;
fine_timer_reset(&timer);
while((active = schedule())) {
kernel_cpu_time += fine_timer_elapsed(&timer);
fine_timer_reset(&timer);
req = kernel_exit(active);
active->cpu_time += fine_timer_elapsed(&timer);
fine_timer_reset(&timer);
int shutdown = handle(active, req);
if (shutdown) break;
}
// Print out runtime stats
dump_timing_info(kernel_cpu_time);
log ("Kernel exiting\n");
disable_interrupts();
return 0;
}
/*
* メインタスク
*/
void main_task(VP_INT exinf)
{
int len;
char buf[256];
const char cmnd[] = "RVAL\r";
unsigned char chr;
vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (INT) exinf);
Initialize();
while(1)
{
SIO_FlashBuffer();
strcpy(buf, cmnd);
len = SIO_Write((unsigned char*)buf, sizeof(cmnd)); // Send Command
chr = 0;
while(chr != '\r')
{
len = SIO_ReadForever((unsigned char*)buf, 1);
chr = buf[0];
tslp_tsk(100);
}
tslp_tsk(100);
}
syslog(LOG_NOTICE, "Sample program ends.");
kernel_exit();
}
/*
* 並行実行されるタスク
*/
void task(VP_INT exinf)
{
volatile UW i;
INT n = 0;
INT tskno = (INT) exinf;
const char *graph[] = { "|", " +", " *" };
char c;
ena_tex();
while (1) {
syslog(LOG_NOTICE, "task%d is running (%03d). %s",
tskno, ++n, graph[tskno-1]);
for (i = 0; i < task_loop; i++);
c = message[tskno-1];
message[tskno-1] = 0;
switch (c) {
case 'e':
syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
ext_tsk();
case 's':
syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
syscall(slp_tsk());
break;
case 'S':
syslog(LOG_INFO, "#%d#tslp_tsk(10000)", tskno);
syscall(tslp_tsk(10000));
break;
case 'd':
syslog(LOG_INFO, "#%d#dly_tsk(10000)", tskno);
syscall(dly_tsk(10000));
break;
case 'y':
syslog(LOG_INFO, "#%d#dis_tex()", tskno);
syscall(dis_tex());
break;
case 'Y':
syslog(LOG_INFO, "#%d#ena_tex()", tskno);
syscall(ena_tex());
break;
#ifdef CPUEXC1
case 'z':
syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
RAISE_CPU_EXCEPTION;
break;
#endif /* CPUEXC1 */
case 'Z':
syslog(LOG_NOTICE, "Sample program ends with exception.");
kernel_exit();
break;
default:
break;
}
}
}
/**
* This is a thread with priority kernel_prio that synchronously waits for
* rtdal_pipeline signals (usign sigwaitinfo). All signals except thread-specific
* ones (SIGSEGV,SIGILL,SIGBUS,SIGFPE) are blocked by all threads except this one.
* Thread-specific signals are handled by ProcThreads which send a SIGRTMIN+1,
* SIGRTMIN+2,SIGRTMIN+3,SIGRTMIN+4 (respectively) to this thread, which takes
* actions accordingly.
*
* for signals SIGRTMIN to SIGRTMIN+4, cast the rtdal_pipeline object from this
* si_value pointer and call rtdal_pipeline_recover_thread(pipeline,
* pipeline->running_process, TRUE)
*/
void sigwait_loop(void) {
int signum;
sigset_t set;
siginfo_t info;
sigfillset(&set);
sigdelset(&set,TASK_TERMINATION_SIGNAL);
while(!sigwait_stops) {
do {
signum = sigwaitinfo(&set, &info);
} while (signum == -1 && errno == EINTR);
if (signum == -1) {
poserror(errno, "sigwaitinfo");
goto out;
}
hdebug("detected signal %d\n",signum);
if (signum == KERNEL_SIG_THREAD_SPECIFIC) {
printf("[rtdal]: Caught thread-specific signal\n");
#ifdef EXIT_ON_THREADSIG
fflush(stdout);
goto out;
#else
sigwait_loop_process_thread_signal(&info);
#endif
} else if (signum == SIGINT) {
printf("Caught SIGINT, exiting\n");
fflush(stdout);
goto out;
} else if (signum != SIGWINCH && signum != SIGCHLD) {
printf("Got signal %d, exiting\n", signum);
fflush(stdout);
goto out;
}
}
out:
kernel_exit();
}
/*
* メインタスク
*/
void main_task(VP_INT exinf)
{
char c;
ID tskid = TASK1;
volatile UW i;
INT tskno = 1;
ER_UINT ercd;
PRI tskpri;
SYSTIM stime1, stime2;
#ifndef OMIT_VGET_TIM
SYSUTIM utime1, utime2;
#endif /* OMIT_VGET_TIM */
vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int)exinf);
syscall(serial_ctl_por(TASK_PORTID,
(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
/*
* ループ回数の設定
*/
task_loop = LOOP_REF;
get_tim(&stime1);
for (i = 0; i < task_loop; i++);
get_tim(&stime2);
task_loop = LOOP_REF * 400 / (stime2 - stime1);
tex_loop = task_loop / 5;
/*
* タスクの起動
*/
act_tsk(TASK1);
act_tsk(TASK2);
act_tsk(TASK3);
/*
* メインループ
*/
do {
syscall(serial_rea_dat(TASK_PORTID, &c, 1));
switch (c) {
case 'e':
case 's':
case 'S':
case 'd':
case 'y':
case 'Y':
case 'z':
case 'Z':
message[tskno-1] = c;
break;
case '1':
tskno = 1;
tskid = TASK1;
break;
case '2':
tskno = 2;
tskid = TASK2;
break;
case '3':
tskno = 3;
tskid = TASK3;
break;
case 'a':
syslog(LOG_INFO, "#act_tsk(%d)", tskno);
syscall(act_tsk(tskid));
break;
case 'A':
syslog(LOG_INFO, "#can_act(%d)", tskno);
syscall(ercd = can_act(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_act(%d) returns %d",
tskno, ercd);
}
break;
case 't':
syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
syscall(ter_tsk(tskid));
break;
case '>':
syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
chg_pri(tskid, HIGH_PRIORITY);
break;
case '=':
syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
chg_pri(tskid, MID_PRIORITY);
break;
case '<':
syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
chg_pri(tskid, LOW_PRIORITY);
break;
case 'G':
syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
syscall(ercd = get_pri(tskid, &tskpri));
if (ercd >= 0) {
syslog(LOG_NOTICE, "priority of task %d is %d",
tskno, tskpri);
}
break;
case 'w':
syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
syscall(wup_tsk(tskid));
break;
case 'W':
syslog(LOG_INFO, "#can_wup(%d)", tskno);
syscall(ercd = can_wup(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_wup(%d) returns %d",
tskno, ercd);
}
break;
case 'l':
syslog(LOG_INFO, "#rel_wai(%d)", tskno);
syscall(rel_wai(tskid));
break;
case 'u':
syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
syscall(sus_tsk(tskid));
break;
case 'm':
syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
syscall(rsm_tsk(tskid));
break;
case 'M':
syslog(LOG_INFO, "#frsm_tsk(%d)", tskno);
syscall(frsm_tsk(tskid));
break;
case 'x':
syslog(LOG_INFO, "#ras_tex(%d, 0x0001)", tskno);
syscall(ras_tex(tskid, 0x0001));
break;
case 'X':
syslog(LOG_INFO, "#ras_tex(%d, 0x0002)", tskno);
syscall(ras_tex(tskid, 0x0002));
break;
case 'r':
syslog(LOG_INFO, "#rot_rdq(three priorities)");
rot_rdq(HIGH_PRIORITY);
rot_rdq(MID_PRIORITY);
rot_rdq(LOW_PRIORITY);
break;
case 'c':
sta_cyc(CYCHDR1);
break;
case 'C':
stp_cyc(CYCHDR1);
break;
#ifndef OMIT_VGET_TIM
case 'V':
syscall(vxget_tim(&utime1));
syscall(vxget_tim(&utime2));
syslog(LOG_NOTICE, "utime1 = %d, utime2 = %d",
(UINT) utime1, (UINT) utime2);
break;
#endif /* OMIT_VGET_TIM */
case 'v':
vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
break;
case 'q':
vmsk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG));
break;
default:
break;
}
} while (c != '\003' && c != 'Q');
syslog(LOG_NOTICE, "Sample program ends.");
kernel_exit();
}
void exit(int status)
{
if (iniflg)
kernel_exit();
_exit(status);
}
