/**
* Set timer for the next wakeup
* @param value
*/
void setTimer(TIMEVAL value)
{
rt_mutex_acquire(&condition_mutex, TM_INFINITE);
last_timeout_set = value;
rt_mutex_release(&condition_mutex);
rt_cond_signal(&timer_set);
}
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;
}
static void task_func1(long dummy)
{
rt_printk("Starting task1, waiting on the conditional variable to be 1.\n");
rt_mutex_lock(&mtx);
while(cond_data < 1) {
rt_cond_wait(&cond, &mtx);
}
rt_mutex_unlock(&mtx);
if(cond_data == 1) {
rt_printk("task1, conditional variable signalled, value: %d.\n", cond_data);
}
rt_printk("task1 signals after setting data to 2.\n");
rt_printk("task1 waits for a broadcast.\n");
rt_mutex_lock(&mtx);
cond_data = 2;
rt_cond_signal(&cond);
while(cond_data < 3) {
rt_cond_wait(&cond, &mtx);
}
rt_mutex_unlock(&mtx);
if(cond_data == 3) {
rt_printk("task1, conditional variable broadcasted, value: %d.\n", cond_data);
}
rt_printk("Ending task1.\n");
atomic_inc(&cleanup);
}
/**
* Stop Timer Task
* @param exitfunction
*/
void StopTimerLoop(CO_Data* d, TimerCallback_t exitfunction)
{
exitall = exitfunction;
callback_od = d;
stop_timer = 1;
rt_cond_signal(&timer_set);
}
bool ElevatorController::releaseFreeCond()
{
int heapSize = this->getUpHeap().getSize() + this->getDownHeap().getSize();
if(heapSize > 0)
{
this->eStat.setGDFailedEmptyHeap(false);
rt_cond_signal(&(this->rtData.freeCond));
return true;
}else
{
return false;
}
}
static void task_func4(long dummy)
{
rt_printk("Starting task4, signalling after setting data to 1, then waits for a broadcast.\n");
rt_mutex_lock(&mtx);
cond_data = 1;
rt_mutex_unlock(&mtx);
rt_cond_signal(&cond);
rt_mutex_lock(&mtx);
while(cond_data < 3) {
rt_cond_wait(&cond, &mtx);
}
rt_mutex_unlock(&mtx);
if(cond_data == 3) {
rt_printk("task4, conditional variable broadcasted, value: %d.\n", cond_data);
}
rt_printk("Ending task4.\n");
atomic_inc(&cleanup);
}
