void __exit cleanup_module(void) {
// On nettoie toutes les tâches
invaders_task_cleanup_task();
fb_task_cleanup_task();
io_task_cleanup_task();
hit_task_cleanup_task();
ship_task_cleanup_task();
// On nettoie tous les objets
invaders_task_cleanup_objects();
fb_task_cleanup_objects();
io_task_cleanup_objects();
hit_task_cleanup_objects();
ship_task_cleanup_objects();
// On désalloue le tas
if(heap_allocated){
heap_allocated = 0;
rt_heap_free(&heap, &fb_mem_rt);
}
// On supprime le tas
if(heap_created){
heap_created = 0;
rt_heap_delete(&heap);
}
rt_intr_delete(&isrDesc);
xeno_ts_exit();
}
int speed_exit(void) {
if (!running) {
goto err_not_running;
}
running = 0;
rt_task_delete(&task_hard);
rt_task_delete(&task_soft);
rt_queue_delete(&queue);
rt_mutex_delete(&mutex_average);
rt_mutex_delete(&mutex_instant);
rt_intr_disable(&intr);
rt_intr_delete(&intr);
fclose(ostream);
/* START DEBUG DEBUG DEBUG */
{
FILE * fp = fopen("average", "w");
fprintf(fp, "%f\n", average);
fclose(fp);
}
/* STOP DEBUG DEBUG DEBUG */
return 0;
err_not_running:
return -1;
}
void __exit cleanup_module(void) {
/* To Be Completed */
rt_intr_delete(&isrDesc);
rt_task_delete(&menu_task);
// pca9554_close(NULL, NULL);
xeno_ts_exit();
}
int rt_intr_create(RT_INTR *intr,
const char *name,
unsigned irq, rt_isr_t isr, rt_iack_t iack, int mode)
{
int err;
spl_t s;
if (xnpod_asynch_p())
return -EPERM;
if (name)
xnobject_copy_name(intr->name, name);
else
/* Kernel-side "anonymous" objects (name == NULL) get unique names.
* Nevertheless, they will not be exported via the registry. */
xnobject_create_name(intr->name, sizeof(intr->name), isr);
xnintr_init(&intr->intr_base, intr->name, irq, isr, iack, mode);
#ifdef CONFIG_XENO_OPT_PERVASIVE
xnsynch_init(&intr->synch_base, XNSYNCH_PRIO, NULL);
intr->pending = 0;
intr->cpid = 0;
intr->mode = 0;
#endif /* CONFIG_XENO_OPT_PERVASIVE */
intr->magic = XENO_INTR_MAGIC;
intr->handle = 0; /* i.e. (still) unregistered interrupt. */
inith(&intr->rlink);
intr->rqueue = &xeno_get_rholder()->intrq;
xnlock_get_irqsave(&nklock, s);
appendq(intr->rqueue, &intr->rlink);
xnlock_put_irqrestore(&nklock, s);
err = xnintr_attach(&intr->intr_base, intr);
/*
* <!> Since xnregister_enter() may reschedule, only register
* complete objects, so that the registry cannot return
* handles to half-baked objects...
*/
if (!err && name)
err = xnregistry_enter(intr->name, intr, &intr->handle,
&__intr_pnode);
if (err)
rt_intr_delete(intr);
return err;
}
void cleanup (void) {
rt_intr_delete(&intr_desc);
rt_task_delete(&server_desc);
}
