void CommandChrono_Get(char *command)
{
switch (Chronostatus) {
case stoppedInitial:
if (buffered) {
buffered = FALSE;
} else {
rt_sem_wait(¬Empty);
}
*command = buffer;
Chronostatus = running;
rt_sem_signal(¬Full);
break;
case running:
if (rt_sem_wait_if(¬Empty) > 0) {
*command = buffer;
if (*command == 'E') {
Chronostatus = stoppedFinal;
}
rt_sem_signal(¬Full);
} else {
*command = 'C';
}
break;
case stoppedFinal:
if (rt_sem_wait_timed(¬Empty, fiveSeconds) >= 0) {
buffered = TRUE;
}
*command = 'R';
Chronostatus = stoppedInitial;
break;
}
}
int rtos_sem_wait_timed(rt_sem_t* m, NANO_TIME delay )
{
int ret;
CHK_LXRT_CALL();
ret = rt_sem_wait_timed(m->sem, nano2count(delay) );
#if defined(CONFIG_RTAI_VERSION_MINOR) && defined(CONFIG_RTAI_VERSION_MAJOR)
# if CONFIG_RTAI_VERSION_MAJOR == 3 && CONFIG_RTAI_VERSION_MINOR > 3
return (ret == RTE_TIMOUT) ? -1 : 0;
# else
return (ret == SEM_TIMOUT) ? -1 : 0;
# endif
#else
return (ret == SEM_TIMOUT) ? -1 : 0;
#endif
}
static void task_code(int task_no)
{
int i, ret;
char buf[9];
buf[8] = 0;
for (i = 0; i < 5; ++i) {
rt_sem_wait(&sems[task_no]);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
if (task_no == NUM_TASKS-1) {
rt_printk("\n");
}
rt_sem_signal(&sems[(task_no + 1) % NUM_TASKS]);
}
rt_sem_signal(&sync_sem);
rt_sem_wait(&prio_sem);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
rt_sleep(nano2count(1000000000LL));
rt_sem_wait_timed(&prio_sem, nano2count((task_no + 1)*1000000000LL));
TAKE_PRINT;
rt_printk("sem timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
rt_sem_signal(&sync_sem);
/* message queue stuff */
if ((ret = rt_mbx_receive(&mbx_in, buf, 8)) != 0) {
rt_printk("rt_mbx_receive() failed with %d\n", ret);
}
TAKE_PRINT;
rt_printk("\nreceived by task %d ", task_no);
rt_printk(buf);
GIVE_PRINT;
rt_mbx_send(&mbx_out, strs[task_no], 8);
/* test receive timeout */
rt_sem_wait(&sync_sem);
if (rt_mbx_receive_timed(&mbx_in, buf, 8, nano2count((task_no + 1)*1000000000LL))) {
TAKE_PRINT;
rt_printk("mbx timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
}
rt_printk("\ntask %d complete\n", task_no);
}
int main(int argc, char* argv[])
{
unsigned long mtsk_name = nam2num("MTSK");
unsigned long btsk_name = nam2num("BTSK");
unsigned long sem_name = nam2num("SEM");
unsigned long smbx_name = nam2num("SMBX");
unsigned long rmbx_name = nam2num("RMBX");
unsigned long msg;
long long mbx_msg;
long long llmsg = 0xaaaaaaaaaaaaaaaaLL;
RT_TASK *mtsk, *rcvd_from;
SEM *sem;
MBX *smbx, *rmbx;
int pid, count;
if (!(mtsk = rt_task_init_schmod(mtsk_name, 0, 0, 0, SCHED_FIFO, 0x1))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
printf("MASTER TASK INIT: name = %lx, address = %p.\n", mtsk_name, mtsk);
printf("MASTER TASK STARTS THE ONESHOT TIMER\n");
rt_set_oneshot_mode();
start_rt_timer(nano2count(10000000));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sleep(1000000);
printf("MASTER TASK MAKES ITSELF PERIODIC WITH A PERIOD OF 1 ms\n");
rt_task_make_periodic(mtsk, rt_get_time(), nano2count(PERIOD));
rt_sleep(nano2count(1000000000));
count = PERIODIC_LOOPS;
printf("MASTER TASK LOOPS ON WAIT_PERIOD FOR %d PERIODS\n", count);
while(count--) {
printf("PERIOD %d\n", count);
rt_task_wait_period();
}
count = SLEEP_LOOPS;
printf("MASTER TASK LOOPS ON SLEEP 0.1 s FOR %d PERIODS\n", count);
while(count--) {
printf("SLEEPING %d\n", count);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK YIELDS ITSELF\n");
rt_task_yield();
printf("MASTER TASK CREATES BUDDY TASK\n");
pid = fork();
if (!pid) {
execl("./slave", "./slave", NULL);
}
printf("MASTER TASK SUSPENDS ITSELF, TO BE RESUMED BY BUDDY TASK\n");
rt_task_suspend(mtsk);
printf("MASTER TASK RESUMED BY BUDDY TASK\n");
if (!(sem = rt_sem_init(sem_name, 0))) {
printf("CANNOT CREATE SEMAPHORE %lx\n", sem_name);
exit(1);
}
printf("MASTER TASK CREATES SEM: name = %lx, address = %p.\n", sem_name, sem);
printf("MASTER TASK WAIT_IF ON SEM\n");
rt_sem_wait_if(sem);
printf("MASTER STEP BLOCKS WAITING ON SEM\n");
rt_sem_wait(sem);
printf("MASTER TASK SIGNALLED BY BUDDY TASK WAKES UP AND BLOCKS WAIT TIMED 1 s ON SEM\n");
rt_sem_wait_timed(sem, nano2count(1000000000));
printf("MASTER TASK DELETES SEM\n");
rt_sem_delete(sem);
printf("MASTER TASK BLOCKS RECEIVING FROM ANY\n");
rcvd_from = rt_receive(0, (void *)&msg);
printf("MASTER TASK RECEIVED MESSAGE %lx FROM BUDDY TASK\n", msg);
printf("MASTER TASK RPCS TO BUDDY TASK THE MESSAGE %lx\n", 0xabcdefL);
rcvd_from = rt_rpc(rcvd_from, 0xabcdef, (void *)&msg);
printf("MASTER TASK RECEIVED THE MESSAGE %lx RETURNED BY BUDDY TASK\n", msg);
//exit(1);
if (!(smbx = rt_mbx_init(smbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", smbx_name);
exit(1);
}
if (!(rmbx = rt_mbx_init(rmbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", rmbx_name);
exit(1);
}
printf("MASTER TASK CREATED TWO MAILBOXES %p %p %p %p \n", smbx, rmbx, &mtsk_name, &msg);
count = MBX_LOOPS;
while(count--) {
rt_mbx_send(smbx, &llmsg, sizeof(llmsg));
printf("%d MASTER TASK SENDS THE MESSAGE %llx MBX\n", count, llmsg);
mbx_msg = 0;
rt_mbx_receive_timed(rmbx, &mbx_msg, sizeof(mbx_msg), nano2count(MSG_DELAY));
printf("%d MASTER TASK RECEIVED THE MESSAGE %llx FROM MBX\n", count, mbx_msg);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK SENDS THE MESSAGE %lx TO BUDDY TO ALLOW ITS END\n", 0xeeeeeeeeL);
rt_send(rcvd_from, 0xeeeeeeee);
printf("MASTER TASK WAITS FOR BUDDY TASK END\n");
while (rt_get_adr(btsk_name)) {
rt_sleep(nano2count(1000000000));
}
printf("MASTER TASK STOPS THE PERIODIC TIMER\n");
stop_rt_timer();
printf("MASTER TASK DELETES MAILBOX %p\n", smbx);
rt_mbx_delete(smbx);
printf("MASTER TASK DELETES MAILBOX %p\n", rmbx);
rt_mbx_delete(rmbx);
printf("MASTER TASK DELETES ITSELF\n");
rt_task_delete(mtsk);
printf("END MASTER TASK\n");
return 0;
}