int main(void)
{
RT_TASK *task;
RTIME now;
int cnt=0;
// make main thread LXRT soft realtime
task = rt_task_init_schmod(nam2num("MYTASK"), 9, 0, 0, SCHED_FIFO, 0xF);
mlockall(MCL_CURRENT | MCL_FUTURE);
// start realtime timer and scheduler
//rt_set_oneshot_mode();
rt_set_periodic_mode();
start_rt_timer(0);
now = rt_get_time() + 10*PERIOD;
rt_task_make_periodic(task, now, PERIOD);
printf("Init mutex and cond.\n");
mutex = rt_sem_init(nam2num("MUTEX"), 1);
if (mutex==0)
printf("Error init mutex\n");
cond = rt_cond_init(nam2num("CONDITION"));
if (cond==0)
printf("Error init cond\n");
thread0 = rt_thread_create(fun0, NULL, 10000);
//thread1 = rt_thread_create(fun1, NULL, 20000);
//rt_sleep(PERIOD);
while (cnt < THRESHOLD) {
rt_task_wait_period();
rt_printk("main: Hello World %d!\n",cnt);
rt_sem_wait(mutex); //now the mutex should have value 0
if (instance_cnt==0) {
rt_sem_signal(mutex); //now the mutex should have vaule 1
rt_printk("worker thread busy!\n");
} else {
instance_cnt++;
rt_cond_signal(cond);
rt_sem_signal(mutex); //now the mutex should have vaule 1
rt_printk("signaling worker thread to start!\n");
}
cnt++;
}
// wait for end of program
printf("TYPE <ENTER> TO TERMINATE\n");
getchar();
// cleanup
stop_rt_timer();
return 0;
}
int init_module(void)
{
printk("Conditional semaphore test program.\n");
printk("Wait for all tasks to end, then type: ./rem.\n\n");
start_rt_timer(nano2count(TICK));
rt_cond_init(&cond);
rt_mutex_init(&mtx);
rt_task_init(&task1, task_func1, 0, RT_STACK, 0, 0, 0);
rt_task_init(&task2, task_func2, 0, RT_STACK, 1, 0, 0);
rt_task_init(&task3, task_func3, 0, RT_STACK, 2, 0, 0);
rt_task_init(&task4, task_func4, 0, RT_STACK, 3, 0, 0);
rt_task_resume(&task1);
rt_task_resume(&task2);
rt_task_resume(&task3);
rt_task_resume(&task4);
printk("Do not panic, wait 2 s, till task3 times out.\n\n");
return 0;
}
int rtos_cond_init(rt_cond_t *cond)
{
CHK_LXRT_CALL();
cond->cond = rt_cond_init(0);
return cond->cond == 0 ? -1 : 0;
}
