/* public functions ========================================================= */
int speed_init(void) {
if (running) {
goto err_running;
}
if ((ostream = fopen("speed", "w")) == NULL) {
goto err_ostream;
}
rt_intr_create(&intr, NULL, 81, 0);
rt_intr_enable(&intr);
rt_mutex_create(&mutex_instant, NULL);
rt_mutex_create(&mutex_average, NULL);
rt_queue_create(&queue, "irq81", QUEUE_SIZE, Q_UNLIMITED, Q_FIFO);
rt_task_spawn(&task_soft, NULL, 0, 80, 0, task_soft_routine, NULL);
rt_task_spawn(&task_hard, NULL, 0, 90, 0, task_hard_routine, NULL);
instant = 0;
average = 0;
running = 1;
return 0;
err_ostream:
err_running:
return -1;
}
int main(int argc, char * argv[])
{
RT_TASK task;
RTIME periode;
int err;
int fd;
int zero = 0;
fd = open("/dev/cpu_dma_latency", O_WRONLY);
if (fd >= 0) {
write(fd, & zero, sizeof(zero));
// ne pas fermer le fichier avant la fin du processus
}
if ((argc != 2) || (sscanf(argv[1], "%llu", & periode) != 1)) {
fprintf(stderr, "usage: %s periode_en_us\n", argv[0]);
exit(EXIT_FAILURE);
}
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_print_auto_init(1);
if ((err = rt_task_spawn(& task, NULL, 0, 99,
T_JOINABLE, fonction_periodique, & periode)) != 0) {
fprintf(stderr, "rt_task_spaw: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
rt_task_join(& task);
return 0;
}
int main(int argc, char *argv[]) {
int err, ret;
printf("start\n");
// install signal handler
signal(SIGTERM, clean_exit);
signal(SIGINT, clean_exit);
// start timer -> depricated in Xeno 2.2
/* ret = rt_timer_start(TM_ONESHOT);
switch (ret) {
case 0: printf("timer started\n");
break;
case -EBUSY: printf("timer is running\n");
break;
case -ENOSYS: printf("can't start timer\n");
return ret;
}
*/
mlockall(MCL_CURRENT | MCL_FUTURE);
err = rt_task_spawn(&test_task_ptr, "Timer", STACK_SIZE, STD_PRIO, 0, &testtask, NULL);
if (err) {
printf("error rt_task_spawn\n");
return 0;
}
// wait for signal & return of signal handler
pause();
fflush(NULL);
return 0;
}
int main(void)
{
int err;
int i;
RT_TASK task[NB_TACHES];
char nom_tache[80];
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_print_auto_init(1);
if ((err = rt_alarm_create(& alarme, "Ex01")) != 0) {
fprintf(stderr, "rt_alarm_create(): %s\n",
strerror(-err));
exit(EXIT_FAILURE);
}
for (i = 0; i < NB_TACHES-1; i++) {
snprintf(nom_tache, 80, "Alarme-%d\n", i+1);
if ((err = rt_task_spawn(& (task[i]), nom_tache, 0,
90-NB_TACHES + i, T_JOINABLE,
fonction_thread, (void *) (i+1))) != 0) {
fprintf(stderr, "rt_task_spawn: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
}
if ((err = rt_alarm_start(& alarme, TM_NOW, 1000000000)) != 0) {
fprintf(stderr, "rt_alarm_start: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
for (i = 0; i < NB_TACHES; i ++)
rt_task_join(& task[i]);
return 0;
}
int main(int argc, char * argv[])
{
RT_TASK task;
RTIME period;
int err;
int fd;
int zero = 0;
fd = open("/dev/cpu_dma_latency", O_WRONLY);
if (fd >= 0) {
write(fd, &zero, sizeof(zero));
// don't close the file before process termination.
}
if ((argc != 2)
|| (sscanf(argv[1], "%llu", &period) != 1)) {
fprintf(stderr, "usage: %s period_us\n", argv[0]);
exit(EXIT_FAILURE);
}
mlockall(MCL_CURRENT|MCL_FUTURE);
err = rt_task_spawn(& task, NULL, 0, 99,
T_JOINABLE, periodic_task, & period);
if (err != 0) {
fprintf(stderr, "rt_task_spaw: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
rt_task_join(& task);
return 0;
}
int root_thread_init (void)
{
rt_timer_set_mode(1000000); /* Forc 1ms periodic tick. */
rt_task_spawn(&consumer_task,
"ConsumerTask",
CONSUMER_STACK_SIZE,
CONSUMER_TASK_PRI,
0,
&consumer,
NULL);
rt_task_spawn(&producer_task,
"ProducerTask",
PRODUCER_STACK_SIZE,
PRODUCER_TASK_PRI,
0,
&producer,
NULL);
return 0;
}
int main(void)
{
int err;
RT_TASK task, task2;
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_print_auto_init(1);
if (((err = rt_task_spawn( & task,"HELLO",0,99,T_JOINABLE,hello,NULL)) != 0 )) {
fprintf(stderr, "rt_task_spawn : %s\n",strerror(-err));
exit(EXIT_FAILURE);
}
if (((err = rt_task_spawn( & task2,"HELLO2",0,98,T_JOINABLE,hello2,NULL)) != 0 )) {
fprintf(stderr, "rt_task_spawn : %s\n",strerror(-err));
exit(EXIT_FAILURE);
}
rt_task_join( & task );
rt_task_join( & task2);
return 0;
}
int main(int argc, char* argv[])
{
char str[10];
int err;
rt_print_auto_init(1);
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_printf("start task\n");
sprintf(str, "hello");
//rt_task_create(&demo_task, str, 0, 50, 0);
//rt_task_start(&demo_task, &demo, 0);
err = rt_task_spawn(&demo_task, str, TASK_STKSZ, TASK_PRIO, TASK_MODE, &demo, NULL);
if(!err)rt_task_delete(&demo_task);
printf("task finished\n");
return 0;
}
int main(int argc, char *const argv[])
{
int ret;
traceobj_init(&trobj, argv[0], sizeof(tseq) / sizeof(int));
ret = rt_alarm_create(&alrm, "ALARM", alarm_handler, &alrm);
traceobj_check(&trobj, ret, 0);
ret = rt_task_spawn(&t_main, "main_task", 0, 50, 0, main_task, NULL);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 8);
traceobj_join(&trobj);
traceobj_verify(&trobj, tseq, sizeof(tseq) / sizeof(int));
exit(0);
}
void loop(void *arg){
Matrix outputMatrix=empty_matrix(1,1);
RT_TASK pwm_task;
lpt_init();
rt_task_spawn(&pwm_task,NULL,0,gs->task_prio,0,&pwm,NULL);
while (running) {
read_inputs();
//outputMatrix=periodic_function(io.input_result,io.input_num);
write_outputs(outputMatrix);
}
rt_task_delete(&pwm_task);
lpt_close();
}
int main()
{
RT_TASK task;
// bloque la memoire virtuelle pour ne pas avoir de swap
mlockall(MCL_CURRENT|MCL_FUTURE);
//
rt_print_auto_init(1);
// spawn : cree et lance la tache : equiv rt_task_create + rt_task_start
if (rt_task_spawn(& task, NULL, 0, 99,
T_JOINABLE, fonction_periodique, NULL) != 0) {
fprintf(stderr, "Impossible de creer la tache\n");
exit(EXIT_FAILURE);
}
rt_task_join(& task);
return 0;
}
int cond_wait_until(cond_t *cond, mutex_t *mutex, unsigned long long date)
{
struct timespec ts = {
.tv_sec = date / NS_PER_S,
.tv_nsec = date % NS_PER_S,
};
return -pthread_cond_timedwait(cond, mutex, &ts);
}
#define cond_destroy(cond) (-pthread_cond_destroy(cond))
int thread_msleep(unsigned ms)
{
struct timespec ts = {
.tv_sec = (ms * NS_PER_MS) / NS_PER_S,
.tv_nsec = (ms * NS_PER_MS) % NS_PER_S,
};
return -nanosleep(&ts, NULL);
}
int thread_spawn(thread_t *thread, int prio,
void *(*handler)(void *cookie), void *cookie)
{
struct sched_param param;
pthread_attr_t tattr;
int err;
pthread_attr_init(&tattr);
pthread_attr_setinheritsched(&tattr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&tattr, SCHED_FIFO);
param.sched_priority = prio;
pthread_attr_setschedparam(&tattr, ¶m);
pthread_attr_setdetachstate(&tattr, PTHREAD_CREATE_JOINABLE);
pthread_attr_setstacksize(&tattr, xeno_stacksize(0));
err = pthread_create(thread, &tattr, handler, cookie);
pthread_attr_destroy(&tattr);
return -err;
}
#define thread_yield() sched_yield()
#define thread_kill(thread, sig) (-__real_pthread_kill(thread, sig))
#define thread_self() pthread_self()
#define thread_join(thread) (-pthread_join(thread, NULL))
#else /* __NATIVE_SKIN__ */
typedef RT_MUTEX mutex_t;
typedef RT_TASK *thread_t;
typedef RT_COND cond_t;
#define timer_read() rt_timer_read()
int __mutex_init(mutex_t *mutex, const char *name, int type, int pi)
{
if (type == PTHREAD_MUTEX_ERRORCHECK)
return -EINVAL;
(void)(pi);
return -rt_mutex_create(mutex, name);
}
#define mutex_init(mutex, type, pi) __mutex_init(mutex, #mutex, type, pi)
#define mutex_destroy(mutex) rt_mutex_delete(mutex)
#define mutex_lock(mutex) rt_mutex_acquire(mutex, TM_INFINITE)
#define mutex_unlock(mutex) rt_mutex_release(mutex)
int __cond_init(cond_t *cond, const char *name, int absolute)
{
(void)(absolute);
return rt_cond_create(cond, name);
}
#define cond_init(cond, absolute) __cond_init(cond, #cond, absolute)
#define cond_signal(cond) rt_cond_signal(cond)
#define cond_wait(cond, mutex, ns) rt_cond_wait(cond, mutex, (RTIME)ns)
#define cond_wait_until(cond, mutex, ns) \
rt_cond_wait_until(cond, mutex, (RTIME)ns)
#define cond_destroy(cond) rt_cond_delete(cond)
#define thread_self() rt_task_self()
#define thread_msleep(ms) rt_task_sleep((RTIME)ms * NS_PER_MS)
int
thread_spawn_inner(thread_t *thread, const char *name,
int prio, void *(*handler)(void *), void *cookie)
{
thread_t tcb;
int err;
tcb = malloc(sizeof(*tcb));
if (!tcb)
return -ENOSPC;
err = rt_task_spawn(tcb, name, 0, prio, T_JOINABLE,
(void (*)(void *))handler, cookie);
if (!err)
*thread = tcb;
return err;
}
INTERNAL_QUAL int rtos_task_create(RTOS_TASK* task,
int priority,
unsigned cpu_affinity,
const char* name,
int sched_type,
size_t stack_size,
void * (*start_routine)(void *),
ThreadInterface* obj)
{
rtos_task_check_priority(&sched_type, &priority);
XenoCookie* xcookie = (XenoCookie*)malloc( sizeof(XenoCookie) );
xcookie->data = obj;
xcookie->wrapper = start_routine;
if ( name == 0 || strlen(name) == 0)
name = "XenoThread";
task->name = strncpy( (char*)malloc( (strlen(name)+1)*sizeof(char) ), name, strlen(name)+1 );
task->sched_type = sched_type; // User requested scheduler.
int rv;
unsigned int aff = 0;
if ( cpu_affinity != 0 ) {
// calculate affinity:
for(unsigned i = 0; i < 8*sizeof(cpu_affinity); i++) {
if(cpu_affinity & (1 << i)) {
// RTHAL_NR_CPUS is defined in the kernel, not in user space. So we just limit up to 7, until Xenomai allows us to get the maximum.
if ( i > 7 ) {
const unsigned int all_cpus = ~0;
if ( cpu_affinity != all_cpus ) // suppress this warning when ~0 is provided
log(Warning) << "rtos_task_create: ignoring cpu_affinity for "<< name << " on CPU " << i << " since it's larger than RTHAL_NR_CPUS - 1 (="<< 7 <<")"<<endlog();
} else {
aff |= T_CPU(i);
}
}
}
}
if (stack_size == 0) {
log(Debug) << "Raizing default stack size to 128kb for Xenomai threads in Orocos." <<endlog();
stack_size = 128000;
}
// task, name, stack, priority, mode, fun, arg
// UGLY, how can I check in Xenomai that a name is in use before calling rt_task_spawn ???
rv = rt_task_spawn(&(task->xenotask), name, stack_size, priority, T_JOINABLE | (aff & T_CPUMASK), rtos_xeno_thread_wrapper, xcookie);
if ( rv == -EEXIST ) {
free( task->name );
task->name = strncpy( (char*)malloc( (strlen(name)+2)*sizeof(char) ), name, strlen(name)+1 );
task->name[ strlen(name) ] = '0';
task->name[ strlen(name)+1 ] = 0;
while ( rv == -EEXIST && task->name[ strlen(name) ] != '9') {
task->name[ strlen(name) ] += 1;
rv = rt_task_spawn(&(task->xenotask), task->name, stack_size, priority, T_JOINABLE | (aff & T_CPUMASK), rtos_xeno_thread_wrapper, xcookie);
}
}
if ( rv == -EEXIST ) {
log(Warning) << name << ": an object with that name is already existing in Xenomai." << endlog();
rv = rt_task_spawn(&(task->xenotask), 0, stack_size, priority, T_JOINABLE | (aff & T_CPUMASK), rtos_xeno_thread_wrapper, xcookie);
}
if ( rv != 0) {
log(Error) << name << " : CANNOT INIT Xeno TASK " << task->name <<" error code: "<< rv << endlog();
return rv;
}
rt_task_yield();
return 0;
}
int main(int argc, char **argv)
{
printf("%s\n","Created Model");
int serversock, clientsock;
size_t clientlen;
struct sockaddr_in server_addr, client_addr, view_addr[2];
unsigned int port;
unsigned int view_port;
char *portNum;
mlockall(MCL_CURRENT | MCL_FUTURE);
signal(SIGKILL, cleanup);
if(argc < 1){
usage(*argv);
exit(0);
}
int c;
while((c = getopt(argc, argv, "p:b:v:")) != -1){
switch(c){char data[1024];
case 'p':
port = atoi(strdup(optarg));
break;
case 'v':
view_port = atoi(strdup(optarg));
break;
/* many potential super fast speeds can be achieved */
case 'b':
ballThreadSpeed = atoi(optarg) > 0 ?
atoi(optarg) : BTHREAD_RATIO;
break;
default:
usage(*argv);
exit(0);
break;
}
}
mThreadPid = getpid();
initializePong();
/* if(rt_task_create(&ballThread, "ball_Thread" ,4096, 99, 0))
rt_err("rt_task_create()");
if(rt_task_create(&recvThread[0], "Recv_Thread", 4096, 99, T_JOINABLE))
rt_err("rt_task_create()");
if(rt_task_create(&recvThread[1], "Recv2_Thread", 4096, 99, T_JOINABLE))
rt_err("rt_task_create()");
*/
/* task creation */
char temp_ball_Thread[1000];
char temp_Recv_Thread[1000];
char temp_Recv2_Thread[1000];
sprintf(temp_ball_Thread,"BallThread%d",port);
sprintf(temp_Recv_Thread,"RecvThread%d",port);
sprintf(temp_Recv2_Thread,"RecvThread2%d",port);
if(rt_task_create(&ballThread, temp_ball_Thread ,4096, 99, 0))
rt_err("rt_task_create()");
if(rt_task_create(&recvThread[0], temp_Recv_Thread, 4096, 99, T_JOINABLE))
rt_err("rt_task_create()");
if(rt_task_create(&recvThread[1], temp_Recv2_Thread, 4096, 99, T_JOINABLE))
rt_err("rt_task_create()");
/* creation of mutexes for buffer */
unsigned int i = 0;
for(; i < 3; i++){
char buf[8];
sprintf(buf, "Mutex %d %d", i, port);
if(rt_mutex_create(&txMutex[i], buf))
rt_err("rt_mutex_create()");
}
char temp_start_mutex[1000];
sprintf(temp_start_mutex,"AutoStartMutex%d",port);
if(rt_mutex_create(&autoStart, temp_start_mutex))
rt_err("rt_mutex_create()");
i = 0;
/* socket creation and structure initialization*/
if ((serversock = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
errx(EXIT_FAILURE, "socket()", strerror(-errno));
int yes = 1;
if(setsockopt(serversock,SOL_SOCKET,SO_REUSEADDR,&yes,sizeof(int)) == -1){
perror("Setsockopt");
exit(1);
}
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
server_addr.sin_port = htons(port); /* server port */
if (bind(serversock, (struct sockaddr *) &server_addr,
sizeof(server_addr)) < 0){
close(serversock);
errx(EXIT_FAILURE, "bind():", strerror(errno));
}
/* listens for Game Controller only*/
if (listen(serversock, 1) < 0)
errx(EXIT_FAILURE, "listen():", strerror(-errno));
int viewSocket;
if ((viewSocket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
rt_err("socket()");
/* connection loop */
printf("Waiting for connections ...\n");
while(true){
char *currClient;
clientlen = sizeof(struct sockaddr_in);
clientsock = accept(serversock,
(struct sockaddr *)&client_addr, (socklen_t *)&clientlen);
currClient = (char *)inet_ntoa(client_addr.sin_addr);
if(i > 1 || (i < 1 && !issuedStart)){ //game in play by force or 2 players
close(clientsock);
fprintf(stderr, "rejecting %s "
"only 2 clients allowed!\n", currClient);
continue;
}
//spawn the receive thread for simulator
player_t players[2];
players[i].socket = clientsock;
players[i].vsocket = viewSocket;
players[i].addr = client_addr;
if(rt_task_start(&recvThread[i], recv_data, (void *)&players[i]))
rt_err("rt_task_start()");
i++;
viewMode++;
/* 1st player connected */
if(i == 1){
initSock = clientsock;
/* spawn task to countdown */
if(rt_task_spawn(&alarmTask, "AutoStart", 4096, 99, 0,
alarm_handler, (void *)viewSocket))
rt_err("rt_task_spawn()");
/* start the ball thread and it handles further movement */
if(rt_task_start(&ballThread, run,(void*)viewSocket))
rt_err("rt_task_start()");
printf("1 Player Connected ...\n");
/* now need to connect to the view */
memset(&view_addr[0], 0, sizeof(view_addr[0]));
view_addr[0].sin_family = AF_INET;
view_addr[0].sin_addr.s_addr = inet_addr(currClient);
view_addr[0].sin_port = htons(view_port);
/* Establish connection to view */
if (connect(viewSocket,(struct sockaddr *) &view_addr[0], sizeof(view_addr[0])) < 0)
rt_err("connect()");
}
/* the case when both players start before one-shot alarm */
if(i == 2){
/*Now need to connect the second view if there is one*/
if ((viewSocket2= socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
rt_err("socket()");/*2 View mode case*/
memset(&view_addr[1], 0, sizeof(view_addr[1]));
view_addr[1].sin_family = AF_INET;
view_addr[1].sin_addr.s_addr = inet_addr(currClient);
view_addr[1].sin_port = htons(view_port);
if (connect(viewSocket2,(struct sockaddr *) &view_addr[1], sizeof(view_addr[1])) < 0)
rt_err("connect()2");
rt_mutex_acquire(&autoStart, TM_INFINITE);
issuedStart = false;
rt_mutex_release(&autoStart);
rt_task_resume(&recvThread[0]);
rt_task_resume(&recvThread[1]);
}
}
//join on receive
rt_task_join(&recvThread[0]);
rt_task_join(&recvThread[1]);
return 0;
}
int main(int argc, char **argv)
{
int serversock, clientsock;
size_t clientlen;
struct sockaddr_in server_addr, client_addr, view_addr;
unsigned int port = MODEL_DEFAULT_PORT; //models and view iff on same cpu
char *ipAddress;
mlockall(MCL_CURRENT | MCL_FUTURE);
if(argc < 3){
usage(*argv);
exit(0);
}
int c;
while((c = getopt(argc, argv, "i:b:")) != -1){
switch(c){
case 'i':
ipAddress = strdup(optarg);
break;
/* many potential super fast speeds can be achieved */
case 'b':
ballThreadSpeed = atoi(optarg) > 0 ?
atoi(optarg) : BTHREAD_RATIO;
break;
default:
usage(*argv);
exit(0);
break;
}
}
initializePong();
/* task creation */
if(rt_task_create(&ballThread, "BallThread", 4096, 99, 0))
rt_err("rt_task_create()");
if(rt_task_create(&recvThread[0], "RecvThread", 4096, 99, T_JOINABLE))
rt_err("rt_task_create()");
if(rt_task_create(&recvThread[1], "RecvThread1", 4096, 99, T_JOINABLE))
rt_err("rt_task_create()");
/* creation of mutexes for buffer */
unsigned int i = 0;
for(; i < 3; i++){
char buf[8];
sprintf(buf, "Mutex %d", i);
if(rt_mutex_create(&txMutex[i], buf))
rt_err("rt_mutex_create()");
}
if(rt_mutex_create(&autoStart, "AutoStartMutex"))
rt_err("rt_mutex_create()");
i = 0;
/* socket creation and structure initialization*/
if ((serversock = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
errx(EXIT_FAILURE, "socket()", strerror(-errno));
memset(&server_addr, 0, sizeof(server_addr));
server_addr.sin_family = AF_INET; /* Internet/IP */
server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
server_addr.sin_port = htons(port); /* server port */
if (bind(serversock, (struct sockaddr *) &server_addr,
sizeof(server_addr)) < 0){
close(serversock);
errx(EXIT_FAILURE, "bind():", strerror(errno));
}
/* listens for Game Controller only*/
if (listen(serversock, 1) < 0)
errx(EXIT_FAILURE, "listen():", strerror(-errno));
/* now need to connect to the view */
int viewSocket;
if ((viewSocket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP)) < 0)
rt_err("socket()");
memset(&view_addr, 0, sizeof(view_addr));
view_addr.sin_family = AF_INET;
view_addr.sin_addr.s_addr = inet_addr(ipAddress);
view_addr.sin_port = htons(VIEW_DEFAULT_PORT);
/* Establish connection to view */
if (connect(viewSocket,
(struct sockaddr *) &view_addr, sizeof(view_addr)) < 0)
rt_err("connect()");
/* connection loop */
printf("Waiting for connections ...\n");
while(true){
char *currClient;
clientlen = sizeof(struct sockaddr_in);
clientsock = accept(serversock,
(struct sockaddr *)&client_addr,
(socklen_t *)&clientlen);
currClient = (char *)inet_ntoa(client_addr.sin_addr);
if(i > 1 || (i < 1 && !issuedStart)){ //game in play by force or 2 players
close(clientsock);
fprintf(stderr, "rejecting %s "
"only 2 clients allowed!\n", currClient);
continue;
}
//spawn the receive thread for simulator
player_t players[2];
players[i].socket = clientsock;
players[i].vsocket = viewSocket;
players[i].addr = client_addr;
if(rt_task_start(&recvThread[i], recv_data, (void *)&players[i]))
rt_err("rt_task_start()");
i++;
/* 1st player connected */
if(i == 1){
initSock = clientsock;
/* spawn task to countdown */
if(rt_task_spawn(&alarmTask, "AutoStart", 4096, 99, 0,
alarm_handler, (void *)viewSocket))
rt_err("rt_task_spawn()");
/* start the ball thread and it handles further movement */
if(rt_task_start(&ballThread, run,(void*)viewSocket))
rt_err("rt_task_start()");
printf("1 Player Connected ...\n");
}
/* the case when both players start before one-shot alarm */
if(i == 2){
rt_mutex_acquire(&autoStart, TM_INFINITE);
issuedStart = false;
rt_mutex_release(&autoStart);
rt_task_resume(&recvThread[0]);
rt_task_resume(&recvThread[1]);
}
}
//join on receive
rt_task_join(&recvThread[0]);
rt_task_join(&recvThread[1]);
return 0;
}
int main(void)
{
unsigned long long before;
RT_ALARM nalrm;
RT_BUFFER nbuf;
RT_COND ncond;
RT_EVENT nevt;
RT_HEAP nheap;
RT_MUTEX nmtx;
RT_PIPE npipe;
RT_QUEUE nq;
RT_SEM nsem;
RT_TASK ntsk;
int failed = 0;
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_print_auto_init(1);
rt_fprintf(stderr, "Checking for leaks in native skin services\n");
before = get_used();
check_native(rt_alarm_create(&nalrm, NULL));
check_native(rt_alarm_delete(&nalrm));
check_used("alarm", before, failed);
before = get_used();
check_native(rt_buffer_create(&nbuf, NULL, 16384, B_PRIO));
check_native(rt_buffer_delete(&nbuf));
check_used("buffer", before, failed);
before = get_used();
check_native(rt_cond_create(&ncond, NULL));
check_native(rt_cond_delete(&ncond));
check_used("cond", before, failed);
before = get_used();
check_native(rt_event_create(&nevt, NULL, 0, EV_PRIO));
check_native(rt_event_delete(&nevt));
check_used("event", before, failed);
before = get_used();
check_native(rt_heap_create(&nheap, "heap", 16384, H_PRIO | H_SHARED));
check_native(rt_heap_delete(&nheap));
check_used("heap", before, failed);
before = get_used();
check_native(rt_mutex_create(&nmtx, NULL));
check_native(rt_mutex_delete(&nmtx));
check_used("mutex", before, failed);
before = get_used();
check_native(rt_pipe_create(&npipe, NULL, P_MINOR_AUTO, 0));
check_native(rt_pipe_delete(&npipe));
check_used("pipe", before, failed);
before = get_used();
check_native(rt_queue_create(&nq, "queue", 16384, Q_UNLIMITED, Q_PRIO));
check_native(rt_queue_delete(&nq));
check_used("queue", before, failed);
before = get_used();
check_native(rt_sem_create(&nsem, NULL, 0, S_PRIO));
check_native(rt_sem_delete(&nsem));
check_used("sem", before, failed);
before = get_used();
check_native(rt_task_spawn(&ntsk, NULL, 0, 1, T_JOINABLE, empty, NULL));
check_native(rt_task_join(&ntsk));
sleep(1); /* Leave some time for xnheap
* deferred free */
check_used("task", before, failed);
return failed ? EXIT_FAILURE : EXIT_SUCCESS;
}
int main(int argc, char **argv)
{
char tempname[] = "/tmp/sigdebug-XXXXXX";
char buf[BUFSIZ], dev[BUFSIZ];
RT_TASK main_task, rt_task;
long int start, trash, end;
unsigned char *mayday, *p;
struct sigaction sa;
int old_wd_value;
char r, w, x, s;
int tmp_fd, d;
FILE *maps;
int err;
rt_print_auto_init(1);
if (argc < 2 || strcmp(argv[1], "--skip-watchdog") != 0) {
wd = fopen("/sys/module/xeno_nucleus/parameters/"
"watchdog_timeout", "w+");
if (!wd) {
fprintf(stderr, "FAILURE: no watchdog available and "
"--skip-watchdog not specified\n");
exit(EXIT_FAILURE);
}
err = fscanf(wd, "%d", &old_wd_value);
check("get watchdog", err, 1);
err = fprintf(wd, "2");
check("set watchdog", err, 1);
fflush(wd);
}
maps = fopen("/proc/self/maps", "r");
if (maps == NULL) {
perror("open /proc/self/maps");
exit(EXIT_FAILURE);
}
while (fgets(buf, sizeof(buf), maps)) {
if (sscanf(buf, "%lx-%lx %c%c%c%c %lx %x:%x %d%s\n",
&start, &end, &r, &w, &x, &s, &trash,
&d, &d, &d, dev) == 11
&& r == 'r' && x == 'x'
&& !strcmp(dev, "/dev/rtheap") && end - start == 4096) {
printf("mayday page starting at 0x%lx [%s]\n"
"mayday code:", start, dev);
mayday = (unsigned char *)start;
for (p = mayday; p < mayday + 32; p++)
printf(" %.2x", *p);
printf("\n");
}
}
fclose(maps);
sigemptyset(&sa.sa_mask);
sa.sa_sigaction = sigdebug_handler;
sa.sa_flags = SA_SIGINFO;
sigaction(SIGDEBUG, &sa, NULL);
sa.sa_sigaction = dummy_handler;
sigaction(SIGUSR1, &sa, NULL);
printf("mlockall\n");
munlockall();
setup_checkdebug(SIGDEBUG_NOMLOCK);
err = rt_task_shadow(&main_task, "main_task", 0, 0);
check("rt_task_shadow", err, -EINTR);
check_sigdebug_received("SIGDEBUG_NOMLOCK");
mlockall(MCL_CURRENT | MCL_FUTURE);
errno = 0;
tmp_fd = mkstemp(tempname);
check_no_error("mkstemp", -errno);
unlink(tempname);
check_no_error("unlink", -errno);
mem = mmap(NULL, 1, PROT_READ | PROT_WRITE, MAP_SHARED, tmp_fd, 0);
check_no_error("mmap", -errno);
err = write(tmp_fd, "X", 1);
check("write", err, 1);
err = rt_task_shadow(&main_task, "main_task", 0, 0);
check_no_error("rt_task_shadow", err);
err = rt_mutex_create(&prio_invert, "prio_invert");
check_no_error("rt_mutex_create", err);
err = rt_mutex_acquire(&prio_invert, TM_INFINITE);
check_no_error("rt_mutex_acquire", err);
err = rt_sem_create(&send_signal, "send_signal", 0, S_PRIO);
check_no_error("rt_sem_create", err);
err = rt_task_spawn(&rt_task, "rt_task", 0, 1, T_WARNSW | T_JOINABLE,
rt_task_body, NULL);
check_no_error("rt_task_spawn", err);
err = rt_sem_p(&send_signal, TM_INFINITE);
check_no_error("rt_sem_signal", err);
pthread_kill(rt_task_thread, SIGUSR1);
rt_task_sleep(rt_timer_ns2ticks(20000000LL));
err = rt_mutex_release(&prio_invert);
check_no_error("rt_mutex_release", err);
err = rt_task_join(&rt_task);
check_no_error("rt_task_join", err);
err = rt_mutex_delete(&prio_invert);
check_no_error("rt_mutex_delete", err);
err = rt_sem_delete(&send_signal);
check_no_error("rt_sem_delete", err);
if (wd) {
fprintf(wd, "%d", old_wd_value);
fclose(wd);
}
fprintf(stderr, "Test OK\n");
return 0;
}