void cleanup_module(void)
{
char msg[] = "let's end the game";
int i;
for (i = 0; i < NTASKS; i++) {
end = i;
rt_msgsnd_nu(rmbx[i], 1, msg, sizeof(msg), 0);
}
end = NTASKS;
rt_msgsnd_nu(smbx, 1, msg, sizeof(msg), 0);
current->state = TASK_INTERRUPTIBLE;
schedule_timeout(HZ);
for (i = 0; i < NTASKS; i++) {
rt_msgctl(rmbx[i], IPC_RMID, NULL);
printk("TASK %d, LOOPS: %d.\n", i, cnt[i]);
}
rt_msgctl(smbx, IPC_RMID, NULL);
stop_rt_timer();
rt_sem_delete(&barrier);
for (i = 0; i < NTASKS; i++) {
rt_task_delete(&mthread[i]);
}
rt_task_delete(&bthread);
rt_printk("MODULE ENDS.\n");
}
int main(void)
{
RT_TASK *maint;
MSG msg = { 0, 0 };
maint = rt_task_init(nam2num("MAIN"), 99, 0, 0);
bx = rt_tbx_init(nam2num("BX"), TBXSIZE, ORDER);
start_rt_timer(nano2count(TIMEBASE));
pthread_create(&pt1, NULL, Task1, NULL);
pthread_create(&pt2, NULL, Task2, NULL);
pthread_create(&pt3, NULL, Task3, NULL);
pthread_create(&pt4, NULL, Task4, NULL);
pthread_create(&pt5, NULL, Task5, NULL);
pthread_create(&pt6, NULL, Task6, NULL);
pthread_create(&pt7, NULL, Task7, NULL);
printf("\ntasks started\n");
pthread_join(pt1, NULL);
pthread_join(pt4, NULL);
pthread_join(pt7, NULL);
endall = 1;
rt_tbx_broadcast(bx, (char*)&msg, sizeof(msg));
pthread_join(pt2, NULL);
pthread_join(pt3, NULL);
pthread_join(pt5, NULL);
pthread_join(pt6, NULL);
rt_tbx_delete(bx);
rt_task_delete(maint);
stop_rt_timer();
printf("\n\nEND\n\n");
return 0;
}
void rtcap_cleanup(void)
{
unsigned long flags;
#if defined(CONFIG_RTAI_24) || defined(CONFIG_RTAI_30) || defined(CONFIG_RTAI_31)
if (start_timer)
stop_rt_timer();
#endif
rtos_nrt_signal_delete(&cap_signal);
/* unregister capturing handlers */
rtos_spin_lock_irqsave(&rtcap_lock, flags);
rtcap_handler = NULL;
rtos_spin_unlock_irqrestore(&rtcap_lock, flags);
/* empty queue (should be already empty) */
rtcap_signal_handler();
cleanup_tap_devices();
rtskb_pool_release(&cap_pool);
printk("RTcap: unloaded\n");
}
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 main(int argc, char *argv[])
{
int fifo, period, skip, average = 0;
RT_TASK *task;
RTIME expected;
if ((fifo = open("/dev/rtf0", O_WRONLY)) < 0) {
printf("Error opening FIFO0 in UCAL\n");
exit(1);
}
if (!(task = rt_task_init_schmod(nam2num("UCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("Cannot init UCAL\n");
exit(1);
}
rt_set_oneshot_mode();
period = start_rt_timer(nano2count(atoi(argv[1])));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
expected = rt_get_time() + 100*period;
rt_task_make_periodic(task, expected, period);
for (skip = 0; skip < atoi(argv[2]); skip++) {
expected += period;
rt_task_wait_period();
average += (int)count2nano(rt_get_time() - expected);
}
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(task);
write(fifo, &average, sizeof(average));
close(fifo);
exit(0);
}
int main(void)
{
RT_TASK *Main_Task;
long msg;
if (!(Main_Task = rt_thread_init(nam2num("MNTSK"), 10, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT MAIN TASK\n");
exit(1);
}
if (!(hard_timer_running = rt_is_hard_timer_running())) {
start_rt_timer(0);
}
barrier = rt_sem_init(nam2num("PREMS"), 4);
latency_thread = rt_thread_create(latency_fun, NULL, 0);
fast_thread = rt_thread_create(fast_fun, NULL, 0);
slow_thread = rt_thread_create(slow_fun, NULL, 0);
start = rt_get_time() + nano2count(200000000);
rt_sem_wait_barrier(barrier);
rt_receive(0, &msg);
end = 1;
rt_sem_wait_barrier(barrier);
rt_thread_join(latency_thread);
rt_thread_join(fast_thread);
rt_thread_join(slow_thread);
if (!hard_timer_running) {
stop_rt_timer();
}
rt_sem_delete(barrier);
rt_thread_delete(Main_Task);
return 0;
}
int main(void)
{
RT_TASK *spktsk, *plrtsk;
RTIME period;
char buf[BUFSIZE], data, temp;
unsigned int msg, i, len;
printf("\n\nGENERIC RECEIVE\n");
ioperm(PORT_ADR, 1, 1);
iopl(3);
if (!(spktsk = rt_task_init_schmod(nam2num("SPKTSK"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SPEAKER TASK\n");
exit(1);
}
rt_set_oneshot_mode();
start_rt_timer(0);
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nSPEAKER TASK RUNNING\n");
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_task_make_periodic(spktsk, rt_get_time() + 5*period, period);
rt_returnx(rt_receivex(0, &msg, sizeof(int), &len), &msg, 1);
for (i = 0; i < 100; i++) {
rt_returnx(rt_receivex(0, &msg, sizeof(int), &len), &msg, 1);
}
len = 0;
while(1) {
if (len) {
data = filter(buf[i++]);
temp = inb(PORT_ADR);
temp &= 0xfd;
temp |= (data & 1) << 1;
outb(temp, PORT_ADR);
len--;
} else {
if (rt_evdrpx(0, buf, BUFSIZE, &i)) {
// rt_printk("EVDRP %d\n", i);
}
if ((plrtsk = rt_receivex_if(0, buf, BUFSIZE, &len))) {
rt_returnx(plrtsk, &len, sizeof(int));
if (len == sizeof(int) && ((int *)buf)[0] == 0xFFFFFFFF) {
break;
}
i = 0;
}
}
rt_task_wait_period();
}
rt_sleep(nano2count(100000000));
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(spktsk);
printf("\nSPEAKER TASK STOPS\n");
return 0;
}
static void
__latency_exit(void)
{
int cpuid;
/* If we started the timer we have to revert this now. */
if (start_timer) {
rt_reset_irq_to_sym_mode(TIMER_8254_IRQ);
stop_rt_timer();
}
/* Now delete our task and remove the FIFO. */
rt_task_delete(&thread);
rtf_destroy(DEBUG_FIFO);
/* Remove proc dir entry */
#ifdef CONFIG_PROC_FS
remove_proc_entry("rtai/latency_calibrate", NULL);
#endif
/* Output some statistics about CPU usage */
printk("\n\nCPU USE SUMMARY\n");
for (cpuid = 0; cpuid < NR_RT_CPUS; cpuid++) {
printk("# %d -> %d\n", cpuid, cpu_used[cpuid]);
}
printk("END OF CPU USE SUMMARY\n\n");
}
void cleanup_module(void)
{
stop_rt_timer();
rt_busy_sleep(nano2count(TICK_PERIOD));
rt_qCleanup(&agentask);
rt_task_delete(&agentask);
}
int main(void)
{
struct sched_param mysched;
mysched.sched_priority = sched_get_priority_max(SCHED_FIFO);
if( sched_setscheduler( 0, SCHED_FIFO, &mysched ) == -1 ) {
puts(" ERROR IN SETTING THE SCHEDULER UP");
perror("errno");
exit(0);
}
rt_grow_and_lock_stack(20000);
#ifdef ONE_SHOT
rt_set_oneshot_mode();
#endif
start_rt_timer(nano2count(TICK_PERIOD));
firing_time = rt_get_time();
period = nano2count(1000000);
prt = rt_init_timer();
rt_insert_timer(prt, 1, firing_time, period, prh, 0, 1);
rt_tasklet_use_fpu(prt, 1);
seqt = rt_init_timer();
rt_insert_timer(seqt, 0, firing_time, 0, seqh, 0, 1);
while(!end) sleep(1);
stop_rt_timer();
rt_delete_timer(prt);
rt_delete_timer(seqt);
return 0;
}
int main(void)
{
int i, srq, count = 0, nextcount = 0, repeat;
rt_thread_init(nam2num("MNTSK"), 100, 0, SCHED_FIFO, 0x1);
rt_printk("\nTESTING THE SCHEDULER WITH SRQs [%d LOOPs].\n", LOOPS);
repeat = 1000000000LL/((long long)DELAY*(long long)PRINT_FREQ);
srq = rtai_open_srq(0xcacca);
start_rt_timer(0);
rt_grow_and_lock_stack(100000);
#ifdef MAKE_HARD
MAKE_HARD();
#endif
for (i = 0; i < LOOPS; i++) {
rtai_srq(srq, (unsigned long)nano2count(DELAY));
if (++count > nextcount) {
nextcount += repeat;
rt_printk(">>> %d.\n", nextcount);
}
}
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(NULL);
rt_printk("END SCHEDULER TEST WITH SRQs.\n\n");
return 0;
}
void __exit cleanup_mod(void)
{
printk(KERN_INFO PFX "Stopping...\n");
//ecrt_slave_config_dc(sc, 0x000, 2000000, 125000, 0, 0);
//ecrt_slave_config_dc(sc2, 0x000, 2000000, 125000, 0, 0);
//if( ( inpu[0] == 0x1637 ) && ( inpu[2] == 0x1637 ) ){
//EC_WRITE_U16(domain1_pd+ctrl_word, 0x0002 );
//EC_WRITE_U16(domain1_pd+ctrl_word2, 0x0002 );
//}
//else if( ( inpu[0] == 0x0650 ) && ( inpu[2] == 0x0650 ) ){
//++deactive ;
//}
rt_task_delete(&task);
stop_rt_timer();
ecrt_release_master(master);
rt_sem_delete(&master_sem);
printk(KERN_INFO PFX "Unloading.\n");
}
int main(void)
{
RT_TASK *task;
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
if (!(task = rt_thread_init(nam2num("SWITCH"), 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SWITCH TASK SIGNAL\n");
exit(1);
}
start_rt_timer(0);
rt_request_signal(SWITCH_SIGNAL, switch_handler);
rt_task_signal_handler(task, (void *)SWITCH_SIGNAL);
rt_make_hard_real_time();
while (!end) {
rt_sleep(nano2count(PERIOD));
}
rt_task_signal_handler(task, NULL);
rt_release_signal(SWITCH_SIGNAL, task);
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(task);
return 0;
}
static __exit void hello_exit(void)
{
stop_rt_timer();
rt_busy_sleep(10000000);
rt_task_delete(&thread);
printk(KERN_ALERT "Q8 Test Module removed.\n");
}
void cleanup_module(void)
{
char msg[] = "let's end the game";
int i;
for (i = 0; i < NTASKS; i++) {
end = i;
rt_msg_send(rmbx[i], msg, sizeof(msg), 1);
}
current->state = TASK_INTERRUPTIBLE;
schedule_timeout(HZ);
for (i = 0; i < NTASKS; i++) {
rt_named_msgq_delete(rmbx[i]);
printk("TASK %d, LOOPS: %d.\n", i, cnt[i]);
}
rt_named_msgq_delete(smbx);
stop_rt_timer();
rt_sem_delete(&barrier);
for (i = 0; i < NTASKS; i++) {
rt_task_delete(&mthread[i]);
}
printk("MODULE ENDS.\n");
}
void my_exit(void) {
int i;
stop_rt_timer();
for (i = 0 ; i < N_TASK ; i++) {
rt_task_delete(&tasks[i]);
}
}
void cleanup_module(void)
{
stop_rt_timer();
rt_sem_delete(&mutex);
rt_task_delete(&taskl);
rt_task_delete(&taskm);
rt_task_delete(&taskh);
}
void cleanup_module(void)
{
rtdm_task_destroy(&stask1);
rtdm_task_destroy(&stask2);
rtdm_sem_destroy(&sem1);
rtdm_sem_destroy(&sem2);
stop_rt_timer();
}
void cleanup_module(void)
{
if (period)
stop_rt_timer();
rt_task_delete(&thread);
rt_spclose(rt_port);
printk("%s: RX%d Test unloaded.\n", test_name, rt_port);
}
void _rtapi_module_timer_stop(void) {
stop_rt_timer();
#if RTAI_VERSION <= 400
rt_free_timer();
#else
rt_free_timers();
#endif
}
void endme(int dummy)
{
rt_sem_delete(sem);
stop_rt_timer();
rt_task_delete(mytask);
signal(SIGINT, SIG_DFL);
exit(1);
}
void cleanup_module(void)
{
int i;
rt_mbx_delete(&mbx);
for (i = 0; i <= NUM_TASKS; i++) {
rt_task_delete(&task[i]);
}
stop_rt_timer();
}
int main(void)
{
double omega = (2.0*M_PI*SIN_FREQ*SAMP_TIME)/1.0E9;
RTIME until;
RT_TASK *task;
lsampl_t data[NCHAN*2];
long k, sinewave, retval = 0;
signal(SIGKILL, endme);
signal(SIGTERM, endme);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
printf("COMEDI CMD TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d.\n", SAMP_FREQ, RUN_TIME);
if (init_board()) {;
printf("Board initialization failed.\n");
return 1;
}
do_cmd();
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
until = rt_get_cpu_time_ns() + (long long)RUN_TIME*1000000000;
for (k = 0; k < SAMP_FREQ*RUN_TIME && !end; k++) {
sinewave = (long)(maxdata/4*sin(k*omega));
data[0] = (lsampl_t)( sinewave + maxdata/2);
data[1] = (lsampl_t)(- sinewave + maxdata/2);
while (rt_comedi_command_data_write(dev, subdev, NCHAN, data) != NCHAN) {
rt_sleep(nano2count(SAMP_TIME/2));
}
if (k == TRIGSAMP) {
rt_comedi_trigger(dev, subdev);
}
}
while (until > rt_get_cpu_time_ns()) {
rt_sleep(nano2count(100000));
}
comedi_cancel(dev, subdev);
comedi_close(dev);
comedi_data_write(dev, subdev, 0, 0, AREF_GROUND, 2048);
comedi_data_write(dev, subdev, 1, 0, AREF_GROUND, 2048);
printf("COMEDI TEST ENDS.\n");
if (retval < 0) {
printf("rt_comedi_wait_timed overruns: %d\n", abs(retval));
}
stop_rt_timer();
rt_make_soft_real_time();
rt_task_delete(task);
return 0;
}
void cleanup_module(void)
{
stop_rt_timer();
rt_task_delete(&rt_task);
rtf_destroy(PRINT);
rt_sem_delete(&tx_sem);
rt_socket_close(sock);
}
int main(void)
{
int i, indx[NTASKS];
unsigned long mytask_name = nam2num("MASTER");
signal(SIGINT, endme);
if (!(mytask = rt_task_init(mytask_name, 1, 0, 0))) {
printf("CANNOT INIT TASK %lu\n", mytask_name);
exit(1);
}
printf("MASTER INIT: name = %lu, address = %p.\n", mytask_name, mytask);
sem = rt_sem_init(10000, 0);
rt_set_oneshot_mode();
// rt_set_periodic_mode();
start_rt_timer(0);
for (i = 0; i < ntasks; i++) {
indx[i] = i;
if (!(task[i] = rt_thread_create(thread_fun, &indx[i], 10000))) {
printf("ERROR IN CREATING THREAD %d\n", indx[i]);
exit(1);
}
}
for (i = 0; i < ntasks; i++) {
while (!rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_send(rt_get_adr(taskname(i)), (unsigned long)sem);
}
for (i = 0; i < ntasks; i++) {
rt_sem_wait(sem);
}
for (i = 0; i < ntasks; i++) {
while (rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_thread_join(task[i]);
}
rt_sem_delete(sem);
stop_rt_timer();
rt_task_delete(mytask);
printf("MASTER %lu %p ENDS\n", mytask_name, mytask);
return 0;
}
void my_exit(void) {
int i;
stop_rt_timer();
for (i = 0 ; i < N_TASK ; i++) {
rt_task_delete(&tasks[i]);
}
rt_sem_delete(&semaphore1);
rt_sem_delete(&semaphore2);
}
void tdma_release(void)
{
#if defined(CONFIG_RTAI_24) || defined(CONFIG_RTAI_30)
if (start_timer)
stop_rt_timer();
#endif
rtmac_disc_deregister(&tdma_disc);
printk("RTmac/TDMA: unloaded\n");
}
void __exit cleanup_mod(void)
{
printk(KERN_INFO PFX "Stopping...\n");
rt_task_delete(&task);
stop_rt_timer();
ecrt_release_master(master);
rt_sem_delete(&master_sem);
printk(KERN_INFO PFX "Unloading.\n");
}
int main(void)
{
int pid;
char ch;
char k = 'k';
RT_TASK *mytask;
MBX *Keyboard;
menu();
pid = fork();
if (!pid) {
execl("./screen", "./screen", NULL);
}
sleep(1);
if (!(mytask = rt_task_init(nam2num("KBRTSK"), 10, 0, 0))) {
printf("CANNOT INIT KEYBOARD TASK\n");
exit(1);
}
if (!(Keyboard = rt_get_adr(nam2num("KEYBRD")))) {
printf("CANNOT FIND KEYBOARD MAILBOX\n");
exit(1);
}
if (rt_mbx_send(Keyboard, &k, 1) > 0 ) {
fprintf(stderr, "Can't send initial command to RT-task\n");
exit(1);
}
do {
ch = get_key();
if (ch == 'p' || ch == 'P') {
menu();
}
if (ch != 'f' && rt_mbx_send_if(Keyboard, &ch, 1) > 0 ) {
fprintf(stderr, "Can't send command to RT-task\n");
}
} while (ch != 'f');
ch = 'r';
rt_mbx_send(Keyboard, &ch, 1);
ch = 'c';
rt_mbx_send(Keyboard, &ch, 1);
ch = 'f';
rt_mbx_send(Keyboard, &ch, 1);
rt_task_resume(rt_get_adr(nam2num("MASTER")));
while (rt_get_adr(nam2num("MASTER"))) {
rt_sleep(nano2count(1000000));
}
kill(pid, SIGINT);
rt_task_delete(mytask);
stop_rt_timer();
exit(0);
}
void cleanup_module(void)
{
int i;
stop_rt_timer();
for (i = 0; i < NUM_CHILDREN; i++) {
rt_task_delete(&child_task[i]);
}
rt_busy_sleep(nano2count(TICK_PERIOD));
rt_task_delete(&parent_task);
}
