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;
}
static void Task4(long t)
{
int wakedup;
rt_printk("\nTask4 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
wakedup = rt_tbx_broadcast(&bx, msg2, sizeof(msg2));
rt_printk("\nTask4=%lu, sending broadcast, wakedup=%d\n", count, wakedup);
rt_sleep(nano2count(DELAY + SHIFT));
}
rt_printk("\nTask4 suspends itself\n");
rt_task_suspend(rt_whoami());
}
static void Task4(long t)
{
int wakedup;
MSG msg;
rt_printk("\nTask4 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
msg.progressive = count;
msg.sending_task = 4;
wakedup = rt_tbx_broadcast(&bx, (char*)&msg, sizeof(msg));
rt_printk("\nTask4=%lu, sent broadcast, wakedup=%d\n", count, wakedup);
rt_sleep(nano2count(DELAY + SHIFT));
}
rt_printk("\nTask4 suspends itself\n");
rt_task_suspend(rt_whoami());
}
static void *Task4(void *arg)
{
RT_TASK *t4;
int wakedup;
MSG msg;
t4 = rt_task_init_schmod(nam2num("T4"), BASE_PRIO + 6, 0, 0, SCHED_FIFO, 0xF);
printf("\nTask4 (%p) starting\n", t4);
mlockall(MCL_CURRENT | MCL_FUTURE);
while (count < MAXCOUNT) {
count++;
msg.progressive = count;
msg.sending_task = 4;
wakedup = rt_tbx_broadcast(bx, (char*)&msg, sizeof(msg));
printf("\nTask4=%lu, sent broadcast, wakedup=%d\n", count, wakedup);
rt_sleep(nano2count(DELAY + SHIFT));
}
rt_task_delete(t4);
printf("\nTask4 ends itself\n");
return 0;
}
