static void test_tcp_client(void) { int sd; int re; struct sockaddr_in sa; printf("[tcp(client)] start\n"); sd = so_socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); DEBUG_PRINT(("so_socket = %d(%d, %d)\n", sd, MERCD(sd), SERCD(sd))); if ( sd < 0 ) { goto error2; } bzero(&sa, sizeof sa); sa.sin_family = AF_INET; sa.sin_addr.s_addr = htonl(INADDR_LOOPBACK); sa.sin_port = htons(12345); re = so_connect(sd, (struct sockaddr*)&sa, sizeof sa); printf("so_connect = %d(%d, %d)\n", re, MERCD(re), SERCD(re)); if ( re < 0 ) { goto error2; } re = so_write(sd, "1234", 4); DEBUG_PRINT(("so_write = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error2; } re = so_send(sd, "a", 1, MSG_OOB); DEBUG_PRINT(("so_send = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error2; } so_close(sd); tk_wai_sem(semid2, 1, TMO_FEVR); re = so_break(server_tskid); DEBUG_PRINT(("so_break = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error2; } printf("[tcp(client)] OK\n"); return; error2: if ( sd > 0 ) { so_close(sd); } so_break(server_tskid); printf("[tcp(client)] FAILED\n"); }
static void route_cmd(int cmd, in_addr_t dest, in_addr_t gate, in_addr_t mask, int index, int direct) { int i = 0; int sock; int re; struct { struct rt_msghdr rtm; struct sockaddr_in addr[3]; } buf; bzero(&buf, sizeof buf); buf.rtm.rtm_version = RTM_VERSION; buf.rtm.rtm_type = cmd; buf.rtm.rtm_index = index; buf.rtm.rtm_flags = RTF_STATIC; if ( direct ) { buf.rtm.rtm_flags |= RTF_HOST; } else { buf.rtm.rtm_flags |= RTF_GATEWAY; } buf.rtm.rtm_addrs = RTA_DST | RTA_NETMASK; if ( gate != 0 ) { buf.rtm.rtm_addrs |= RTA_GATEWAY; } buf.rtm.rtm_inits = RTV_HOPCOUNT; buf.rtm.rtm_rmx.rmx_hopcount = 1; buf.rtm.rtm_seq = 1; buf.addr[i].sin_len = sizeof(struct sockaddr_in); buf.addr[i].sin_family = AF_INET; buf.addr[i].sin_addr.s_addr = dest; i++; if ( gate != 0 ) { buf.addr[i].sin_len = sizeof(struct sockaddr_in); buf.addr[i].sin_family = AF_INET; buf.addr[i].sin_addr.s_addr = gate; i++; } buf.addr[i].sin_len = sizeof(struct sockaddr_in); buf.addr[i].sin_family = AF_INET; buf.addr[i].sin_addr.s_addr = mask; i++; buf.rtm.rtm_msglen = sizeof(struct rt_msghdr) + sizeof(struct sockaddr) * i; sock = so_socket(AF_ROUTE, SOCK_RAW, 0); DEBUG_PRINT(("route_add: so_socket = %d(%d, %d)\n", sock, MERCD(sock), SERCD(sock))); so_shutdown(sock, SHUT_RD); re = so_write(sock, &buf, buf.rtm.rtm_msglen); DEBUG_PRINT(("route_add: so_write = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); so_close(sock); }
static void wait_data(int sd) { int re; fd_set fdset; FD_ZERO(&fdset); FD_SET(sd, &fdset); re = so_select(sd+1, &fdset, NULL, NULL, NULL); DEBUG_PRINT(("wait_data: so_select = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); }
/* * 待ちに入るサービスコールからのエラーの変換 */ static ER gen_ercd_wait(ER rercd, SPCB *p_spcb) { switch (MERCD(rercd)) { case E_RLWAI: case E_DLT: return(rercd); default: p_spcb->errorflag = true; return(E_SYS); } }
static void net_show_if(void) { struct ifaddrs *ifa; void *buf; int len; char lastname[IFNAMSIZ]; len = so_getifaddrs(&ifa, NULL, 0); if (len < 0) { printf("error: so_getifaddrs: %d(%d,%d)\n", len, MERCD(len), SERCD(len)); return; } buf = malloc(len); if (buf == NULL) { return; } len = so_getifaddrs(&ifa, buf, len); if (len < 0) { printf("error: so_getifaddrs: %d(%d,%d)\n", len, MERCD(len), SERCD(len)); free(buf); return; } lastname[0] = '\0'; for( ; ifa != NULL; ifa=ifa->ifa_next) { if (strncmp(ifa->ifa_name, lastname, IFNAMSIZ) != 0) { printf("%s:\n", ifa->ifa_name); strncpy(lastname, ifa->ifa_name, IFNAMSIZ-1); } if (ifa->ifa_addr->sa_family == AF_LINK) { net_show_link(ifa); } else if (ifa->ifa_addr->sa_family == AF_INET) { net_show_inet(ifa); } } free(buf); }
/* * 待ちに入るサービスコールからのエラーの変換 */ static ER gen_ercd_wait(ER rercd, CELLCB *p_cellcb) { switch (MERCD(rercd)) { case E_RLWAI: case E_DLT: case E_RASTER: return(rercd); default: VAR_errorFlag = true; return(E_SYS); } }
static void test_getnameinfo(void) { struct sockaddr_in sa; char buf[NI_MAXHOST]; char buf2[NI_MAXSERV]; int re; char rbuf[18]; printf("[getnameinfo] start\n"); bzero(&sa, sizeof sa); sa.sin_len = sizeof sa; sa.sin_family = AF_INET; sa.sin_addr.s_addr = htonl(INADDR_LOOPBACK); sa.sin_port = htons(12345); re = so_getnameinfo((struct sockaddr*)&sa, sizeof sa, buf, sizeof buf, buf2, sizeof buf2, 0, NULL); DEBUG_PRINT(("test_getnameinfo: so_getnameinfo = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { printf("[getnameinfo] FAILED\n"); return; } printf("test_getnameinfo: %s:%d => %s:%s\n", inet_ntop(AF_INET, &sa.sin_addr, rbuf, sizeof(rbuf)), ntohs(sa.sin_port), buf, buf2); sa.sin_addr.s_addr = inet_addr(IP_T_ENGINE_ORG); sa.sin_port = htons(80); re = so_getnameinfo((struct sockaddr*)&sa, sizeof sa, buf, sizeof buf, buf2, sizeof buf2, 0, NULL); DEBUG_PRINT(("test_getnameinfo: so_getnameinfo = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { printf("[getnameinfo] FAILED\n"); return; } printf("test_getnameinfo: %s:%d => %s:%s\n", inet_ntop(AF_INET, &sa.sin_addr, rbuf, sizeof(rbuf)), ntohs(sa.sin_port), buf, buf2); printf("[getnameinfo] OK\n"); }
static void test_getaddrinfo(void) { const char* hostname = "www.t-engine.org";//"localhost"; struct addrinfo hints, *res; struct in_addr addr; char* buf; int re; int size; char rbuf[18]; printf("[getaddrinfo] start\n"); bzero(&hints, sizeof hints); hints.ai_socktype = SOCK_STREAM; hints.ai_family = AF_INET; size = so_getaddrinfo(hostname, NULL, &hints, &res, NULL, 0, NULL); DEBUG_PRINT(("test_getaddrinfo: so_getaddrinfo = %d(%d, %d)\n", size, MERCD(size), SERCD(size))); if ( size < 0 ) { printf("[getaddrinfo] FAILED\n"); return; } buf = malloc(size); re = so_getaddrinfo(hostname, NULL, &hints, &res, buf, size, NULL); DEBUG_PRINT(("test_getaddrinfo: so_getaddrinfo = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { printf("[getaddrinfo] FAILED\n"); return; } addr.s_addr = ((struct sockaddr_in *)(res->ai_addr))->sin_addr.s_addr; printf("test_getaddrinfo: %s => %s\n", hostname, inet_ntop(AF_INET, &addr, rbuf, sizeof(rbuf))); free(buf); printf("[getaddrinfo] OK\n"); }
void dump_rtlist(void) { union { struct rt_msghdr rt; char buf[4096]; } rtbuf; struct rt_msghdr* rtm; ER er; printf("Destination Netmask Gateway Flags Interface\n"); er = so_rtlist(AF_INET, NET_RT_DUMP, 0, &rtbuf, sizeof(rtbuf) ); DEBUG_PRINT(("dump_rtlist: so_rtlist = %d(%d, %d)\n", er, MERCD(er), SERCD(er))); for(rtm = &rtbuf.rt; rtm->rtm_msglen != 0; rtm = (struct rt_msghdr *)((void*)rtm + rtm->rtm_msglen) ) { np_rtentry(rtm); } }
static void test_http(void) { int re; char* buf; printf("[http] start\n"); buf = malloc(HTTP_BUFSIZE); bzero(buf, HTTP_BUFSIZE); re = http_get("t-engine.org", "/", buf, HTTP_BUFSIZE); DEBUG_PRINT(("server_task: http_get = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { printf("[http] FAILED\n"); return; } printf(buf); free(buf); printf("[http] OK\n"); }
void main_task(intptr_t exinf) { //串口任务初始化 ER_UINT ercd; SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); ercd = serial_opn_por(TASK_PORTID); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); //初始化其它的任务 SVC_PERROR(act_tsk(SPEED_TASK)); SVC_PERROR(act_tsk(FOLLOW_TASK)); SVC_PERROR(act_tsk(SENSORS_TASK)); SVC_PERROR(sta_cyc(CYC_HANDLE)); //结束自己的使命 ext_tsk(); }
/* * メインタスク */ void main_task(intptr_t exinf) { char c; ID tskid = TASK1; int_t tskno = 1; ER_UINT ercd; PRI tskpri; #ifndef TASK_LOOP volatile ulong_t i; SYSTIM stime1, stime2; #endif /* TASK_LOOP */ #ifdef TOPPERS_SUPPORT_GET_UTM SYSUTM utime1, utime2; #endif /* TOPPERS_SUPPORT_GET_UTM */ T_CTSK ctsk; T_DTEX dtex; ID TASK3 = -1; SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /* * シリアルポートの初期化 * * システムログタスクと同じシリアルポートを使う場合など,シリアル * ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は * ない. */ ercd = serial_opn_por(TASK_PORTID); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * ループ回数の設定 * * 並行実行されるタスク内での空ループの回数(task_loop)は,空ルー * プの実行時間が約0.4秒になるように設定する.この設定のために, * LOOP_REF回の空ループの実行時間を,その前後でget_timを呼ぶことで * 測定し,その測定結果から空ループの実行時間が0.4秒になるループ回 * 数を求め,task_loopに設定する. * * LOOP_REFは,デフォルトでは1,000,000に設定しているが,想定したよ * り遅いプロセッサでは,サンプルプログラムの実行開始に時間がかか * りすぎるという問題を生じる.逆に想定したより速いプロセッサでは, * LOOP_REF回の空ループの実行時間が短くなり,task_loopに設定する値 * の誤差が大きくなるという問題がある. * * そこで,そのようなターゲットでは,target_test.hで,LOOP_REFを適 * 切な値に定義するのが望ましい. * * また,task_loopの値を固定したい場合には,その値をTASK_LOOPにマ * クロ定義する.TASK_LOOPがマクロ定義されている場合,上記の測定を * 行わずに,TASK_LOOPに定義された値を空ループの回数とする. * * ターゲットによっては,空ループの実行時間の1回目の測定で,本来よ * りも長めになるものがある.このようなターゲットでは,MEASURE_TWICE * をマクロ定義することで,1回目の測定結果を捨てて,2回目の測定結果 * を使う. * * タスク例外処理ルーチン内での空ループの回数(tex_loop)は, * task_loopの4分の1の値(空ループの実行時間が0.1秒になるループ回 * 数)に設定する. */ #ifdef TASK_LOOP task_loop = TASK_LOOP; #else /* TASK_LOOP */ #ifdef MEASURE_TWICE task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); #endif /* MEASURE_TWICE */ task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); task_loop = LOOP_REF * 400UL / (stime2 - stime1); #endif /* TASK_LOOP */ tex_loop = task_loop / 4; /* * タスクの起動 */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); /* * メインループ */ do { SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1)); switch (c) { case 'e': case 's': case 'S': case 'd': case 'y': case 'Y': case 'z': case 'Z': message[tskno-1] = c; break; case '1': tskno = 1; tskid = TASK1; break; case '2': tskno = 2; tskid = TASK2; break; case '3': tskno = 3; tskid = TASK3; break; case 'a': syslog(LOG_INFO, "#act_tsk(%d)", tskno); SVC_PERROR(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(%d)", tskno); SVC_PERROR(ercd = can_act(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd); } break; case 't': syslog(LOG_INFO, "#ter_tsk(%d)", tskno); SVC_PERROR(ter_tsk(tskid)); break; case '>': syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY)); break; case '=': syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, MID_PRIORITY)); break; case '<': syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, LOW_PRIORITY)); break; case 'G': syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno); SVC_PERROR(ercd = get_pri(tskid, &tskpri)); if (ercd >= 0) { syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri); } break; case 'w': syslog(LOG_INFO, "#wup_tsk(%d)", tskno); SVC_PERROR(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(%d)", tskno); SVC_PERROR(ercd = can_wup(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd); } break; case 'l': syslog(LOG_INFO, "#rel_wai(%d)", tskno); SVC_PERROR(rel_wai(tskid)); break; case 'u': syslog(LOG_INFO, "#sus_tsk(%d)", tskno); SVC_PERROR(sus_tsk(tskid)); break; case 'm': syslog(LOG_INFO, "#rsm_tsk(%d)", tskno); SVC_PERROR(rsm_tsk(tskid)); break; case 'x': syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno); SVC_PERROR(ras_tex(tskid, 0x0001U)); break; case 'X': syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno); SVC_PERROR(ras_tex(tskid, 0x0002U)); break; case 'r': syslog(LOG_INFO, "#rot_rdq(three priorities)"); SVC_PERROR(rot_rdq(HIGH_PRIORITY)); SVC_PERROR(rot_rdq(MID_PRIORITY)); SVC_PERROR(rot_rdq(LOW_PRIORITY)); break; case 'c': syslog(LOG_INFO, "#sta_cyc(1)"); SVC_PERROR(sta_cyc(CYCHDR1)); break; case 'C': syslog(LOG_INFO, "#stp_cyc(1)"); SVC_PERROR(stp_cyc(CYCHDR1)); break; case 'b': syslog(LOG_INFO, "#sta_alm(1, 5000)"); SVC_PERROR(sta_alm(ALMHDR1, 5000)); break; case 'B': syslog(LOG_INFO, "#stp_alm(1)"); SVC_PERROR(stp_alm(ALMHDR1)); break; case '@': ctsk.tskatr = TA_NULL; ctsk.exinf = 3; ctsk.task = task; ctsk.itskpri = MID_PRIORITY; ctsk.stksz = STACK_SIZE; ctsk.stk = NULL; SVC_PERROR(TASK3 = acre_tsk(&ctsk)); dtex.texatr = TA_NULL; dtex.texrtn = tex_routine; SVC_PERROR(def_tex(TASK3, &dtex)); syslog(LOG_NOTICE, "task3 is created with tskid = %d.", (int_t) TASK3); break; case '!': syslog(LOG_INFO, "#del_tsk(%d)", tskno); SVC_PERROR(del_tsk(tskid)); break; case 'V': #ifdef TOPPERS_SUPPORT_GET_UTM SVC_PERROR(get_utm(&utime1)); SVC_PERROR(get_utm(&utime2)); syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld", (ulong_t) utime1, (ulong_t) utime2); #else /* TOPPERS_SUPPORT_GET_UTM */ syslog(LOG_NOTICE, "get_utm is not supported."); #endif /* TOPPERS_SUPPORT_GET_UTM */ break; case 'v': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); break; case 'q': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG))); break; #ifdef BIT_KERNEL case ' ': SVC_PERROR(loc_cpu()); { extern ER bit_kernel(void); SVC_PERROR(ercd = bit_kernel()); if (ercd >= 0) { syslog(LOG_NOTICE, "bit_kernel passed."); } } SVC_PERROR(unl_cpu()); break; #endif /* BIT_KERNEL */ case '$': syslog(LOG_INFO, "#%d#twai_sem(10000)", tskno); SVC_PERROR(twai_sem(TEST_SEM, 10000)); break; default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
const char * itron_strerror(ER ercd) { switch (MERCD(ercd)) { case E_OK: return("E_OK"); case E_SYS: return("E_SYS"); case E_NOSPT: return("E_NOSPT"); case E_RSFN: return("E_RSFN"); case E_RSATR: return("E_RSATR"); case E_PAR: return("E_PAR"); case E_ID: return("E_ID"); case E_CTX: return("E_CTX"); case E_MACV: return("E_MACV"); case E_OACV: return("E_OACV"); case E_ILUSE: return("E_ILUSE"); case E_NOMEM: return("E_NOMEM"); case E_NOID: return("E_NOID"); case E_NORES: return("E_NORES"); case E_OBJ: return("E_OBJ"); case E_NOEXS: return("E_NOEXS"); case E_QOVR: return("E_QOVR"); case E_RLWAI: return("E_RLWAI"); case E_TMOUT: return("E_TMOUT"); case E_DLT: return("E_DLT"); case E_CLS: return("E_CLS"); case E_WBLK: return("E_WBLK"); case E_BOVR: return("E_BOVR"); default: return("unknown error"); } }
static void test_tcp_server(void) { int re; int sd; int reader = 0; char buf[5]; struct sockaddr_in sa; struct sockaddr_in sa2; socklen_t sa_len; printf("[tcp(server)] start\n"); sd = so_socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); if ( sd < 0 ) { goto error; } DEBUG_PRINT(("server_task: so_socket = %d(%d, %d)\n", sd, MERCD(sd), SERCD(sd))); bzero(&sa, sizeof sa); sa.sin_family = AF_INET; sa.sin_addr.s_addr = htonl(INADDR_ANY); sa.sin_port = htons(12345); re = so_bind(sd, (struct sockaddr*)&sa, sizeof sa); DEBUG_PRINT(("server_task: so_bind = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error; } re = so_listen(sd, 5); DEBUG_PRINT(("server_task: so_listen = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error; } tk_sig_sem(semid, 1); DEBUG_PRINT(("server_task: server semaphore signaled 1\n")); reader = so_accept(sd, (struct sockaddr*)&sa2, &sa_len); DEBUG_PRINT(("server_task: so_accept = %d(%d, %d)\n", reader, MERCD(reader), SERCD(reader))); if ( reader < 0 ) { goto error; } wait_data(reader); bzero(buf, sizeof buf); re = so_sockatmark(reader); DEBUG_PRINT(("server_task: so_sockatmark = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error; } re = so_read(reader, buf, 4); DEBUG_PRINT(("server_task: so_read = %d(%d, %d), buf = %s\n", re, MERCD(re), SERCD(re), buf)); if ( re < 0 || memcmp(buf, "1234", 4) != 0 ) { goto error; } wait_data(reader); bzero(buf, sizeof buf); re = so_sockatmark(reader); DEBUG_PRINT(("server_task: so_sockatmark = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re < 0 ) { goto error; } re = so_recv(reader, buf, 4, MSG_OOB); DEBUG_PRINT(("server_task: so_recv = %d(%d, %d), buf = %s\n", re, MERCD(re), SERCD(re), buf)); if ( re < 0 || buf[0] != 'a' ) { goto error; } tk_sig_sem(semid2, 1); DEBUG_PRINT(("server_task: server semaphore for break signaled 2\n")); DEBUG_PRINT(("server_task: pre-accept for break\n")); re = so_accept(sd, (struct sockaddr*)&sa2, &sa_len); DEBUG_PRINT(("server_task: so_accept = %d(%d, %d)\n", re, MERCD(re), SERCD(re))); if ( re != EX_INTR ) { goto error; } so_close(reader); so_close(sd); printf("[tcp(server)] OK\n"); return; error: printf("[tcp(server)] FAILED\n"); if ( sd > 0 ) { so_close(sd); } if ( reader > 0 ) { so_close(reader); } tk_del_sem(semid2); return; }
/* * メインタスク */ void main_task(VP_INT exinf) { char c; ID tskid = TASK1; volatile UW i; INT tskno = 1; ER_UINT ercd; PRI tskpri; SYSTIM stime1, stime2; #ifndef OMIT_VGET_TIM SYSUTIM utime1, utime2; #endif /* OMIT_VGET_TIM */ vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", exinf); syscall(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * ループ回数の設定 */ task_loop = LOOP_REF; get_tim(&stime1); for (i = 0; i < task_loop; i++); get_tim(&stime2); task_loop = LOOP_REF * 400 / (stime2 - stime1); tex_loop = task_loop / 5; /* * タスクの起動 */ act_tsk(TASK1); act_tsk(TASK2); act_tsk(TASK3); /* * メインループ */ do { syscall(serial_rea_dat(TASK_PORTID, &c, 1)); switch (c) { case 'e': case 's': case 'S': case 'd': case 'y': case 'Y': case 'z': case 'Z': message[tskno-1] = c; break; case '1': tskno = 1; tskid = TASK1; break; case '2': tskno = 2; tskid = TASK2; break; case '3': tskno = 3; tskid = TASK3; break; case 'a': syslog(LOG_INFO, "#act_tsk(%d)", tskno); syscall(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(%d)", tskno); syscall(ercd = can_act(tskid)); if (MERCD(ercd) >= 0) { syslog(LOG_NOTICE, "can_act(%d) returns %d", tskid, ercd); } break; case 't': syslog(LOG_INFO, "#ter_tsk(%d)", tskno); syscall(ter_tsk(tskid)); break; case '>': syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno); chg_pri(tskid, HIGH_PRIORITY); break; case '=': syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno); chg_pri(tskid, MID_PRIORITY); break; case '<': syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno); chg_pri(tskid, LOW_PRIORITY); break; case 'G': syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno); syscall(ercd = get_pri(tskid, &tskpri)); if (MERCD(ercd) >= 0) { syslog(LOG_NOTICE, "priority of task %d is %d", tskid, tskpri); } break; case 'w': syslog(LOG_INFO, "#wup_tsk(%d)", tskno); syscall(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(%d)", tskno); syscall(ercd = can_wup(tskid)); if (MERCD(ercd) >= 0) { syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskid, ercd); } break; case 'l': syslog(LOG_INFO, "#rel_wai(%d)", tskno); syscall(rel_wai(tskid)); break; case 'u': syslog(LOG_INFO, "#sus_tsk(%d)", tskno); syscall(sus_tsk(tskid)); break; case 'm': syslog(LOG_INFO, "#rsm_tsk(%d)", tskno); syscall(rsm_tsk(tskid)); break; case 'M': syslog(LOG_INFO, "#frsm_tsk(%d)", tskno); syscall(frsm_tsk(tskid)); break; case 'x': syslog(LOG_INFO, "#ras_tsk(%d, 0x0001)", tskno); syscall(ras_tex(tskid, 0x0001)); break; case 'X': syslog(LOG_INFO, "#ras_tsk(%d, 0x0002)", tskno); syscall(ras_tex(tskid, 0x0002)); break; case 'r': syslog(LOG_INFO, "#rot_rdq(three priorities)"); rot_rdq(HIGH_PRIORITY); rot_rdq(MID_PRIORITY); rot_rdq(LOW_PRIORITY); break; case 'c': sta_cyc(CYCHDR1); break; case 'C': stp_cyc(CYCHDR1); break; #ifndef OMIT_VGET_TIM case 'V': syscall(vxget_tim(&utime1)); syscall(vxget_tim(&utime2)); syslog(LOG_NOTICE, "utime1 = %d, utime2 = %d", (UINT) utime1, (UINT) utime2); break; #endif /* OMIT_VGET_TIM */ case 'v': vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)); break; case 'q': vmsk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG)); break; default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); kernel_exit(); }
/* * メインタスク */ void main_task(intptr_t exinf) { char_t c; ER_UINT ercd; PRI tskpri; ID prcid = exinf; ID tskid = sample_tskid[(exinf - 1) * 3 ]; int_t tskno = (exinf-1) * 3 + 1; ID cycid = sample_cycid[(int_t)exinf-1]; ID almid = sample_almid[(int_t)exinf-1]; bool_t update_select = true; uint_t tme_select = exinf; uint_t prc_select = exinf; uint32_t server_req; #ifndef TASK_LOOP volatile ulong_t i; SYSTIM stime1, stime2; #endif /* TASK_LOOP */ #ifdef G_SYSLOG uint_t e; #endif /* G_SYSLOG */ SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /* * シリアルポートの初期化 * * システムログタスクと同じシリアルポートを使う場合など,シリアル * ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は * ない. */ ercd = serial_opn_por(((int_t)serial_port[exinf-1])); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(serial_port[exinf-1], (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * ループ回数の設定 * * TASK_LOOPがマクロ定義されている場合,測定せずに,TASK_LOOPに定 * 義された値を,タスク内でのループ回数とする. * * MEASURE_TWICEがマクロ定義されている場合,1回目の測定結果を捨て * て,2回目の測定結果を使う.1回目の測定は長めの時間が出るため. */ #ifdef TASK_LOOP task_loop = TASK_LOOP; #else /* TASK_LOOP */ #ifdef MEASURE_TWICE task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); #endif /* MEASURE_TWICE */ task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); task_loop = LOOP_REF * 400UL / (stime2 - stime1); #endif /* TASK_LOOP */ /* * タスクの起動 */ SVC_PERROR(act_tsk(tskid)); /* * メインループ */ do { if (update_select) { prcid = prc_select; cycid = sample_cycid[tme_select-1]; almid = sample_almid[tme_select-1]; tsk_mig_prc = prcid; update_select = false; syslog(LOG_INFO, "select tskno 0x%x", tskno); syslog(LOG_INFO, "select cycid %d", cycid); syslog(LOG_INFO, "select almid %d", almid); syslog(LOG_INFO, "select processor %d", prcid); } SVC_PERROR(serial_rea_dat(serial_port[exinf-1], &c, 1)); switch (c) { case 'e': case 's': case 'S': case 'd': case 'g': message[tskno - 1] = c; break; case '1': tskno = 1; tskid = TASK1; update_select = true; break; case '2': tskno = 2; tskid = TASK2; update_select = true; break; case '3': tskno = 3; tskid = TASK3; update_select = true; break; case '4': tskno = 4; tskid = TASK4; update_select = true; break; case '5': tskno = 5; tskid = TASK5; update_select = true; break; case '6': tskno = 6; tskid = TASK6; update_select = true; break; case '8': prc_select = 1; update_select = true; break; case '9': prc_select = 2; update_select = true; break; case 'a': syslog(LOG_INFO, "#act_tsk(0x%x)", tskno); SVC_PERROR(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(0x%x)", tskno); SVC_PERROR(ercd = can_act(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_act(0x%x) returns %d", tskno, ercd); } break; case '>': syslog(LOG_INFO, "#chg_pri(0x%x, HIGH_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY)); break; case '=': syslog(LOG_INFO, "#chg_pri(0x%x, MID_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, MID_PRIORITY)); break; case '<': syslog(LOG_INFO, "#chg_pri(0x%x, LOW_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, LOW_PRIORITY)); break; case 'G': syslog(LOG_INFO, "#get_pri(0x%x, &tskpri)", tskno); SVC_PERROR(ercd = get_pri(tskid, &tskpri)); if (ercd >= 0) { syslog(LOG_NOTICE, "priority of task 0x%x is %d", tskno, tskpri); } break; case 'w': syslog(LOG_INFO, "#wup_tsk(0x%x)", tskno); SVC_PERROR(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(0x%x)", tskno); SVC_PERROR(ercd = can_wup(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_wup(0x%x) returns %d", tskno, ercd); } break; case 'c': syslog(LOG_INFO, "#sta_cyc(%d)", cycid); SVC_PERROR(sta_cyc(cycid)); break; case 'C': syslog(LOG_INFO, "#stp_cyc(%d)", cycid); SVC_PERROR(stp_cyc(cycid)); break; case 'b': syslog(LOG_INFO, "#sta_alm(%d, %d)", almid, ALM_TIME); SVC_PERROR(sta_alm(almid, ALM_TIME)); break; case 'B': syslog(LOG_INFO, "#stp_alm(%d)", almid); SVC_PERROR(stp_alm(almid)); break; case 'f': syslog(LOG_INFO, "#mact_tsk(%d, %d)", tskid, prcid); SVC_PERROR(mact_tsk(tskid, prcid)); break; default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
/* * main task */ void main_task(intptr_t exinf) { char_t c; ID tskid = TASK1; int_t tskno = 1; ER_UINT ercd; PRI tskpri; #ifndef TASK_LOOP volatile ulong_t i; SYSTIM stime1, stime2; #endif /* TASK_LOOP */ #ifdef TOPPERS_SUPPORT_GET_UTM SYSUTM utime1, utime2; #endif /* TOPPERS_SUPPORT_GET_UTM */ SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /* * initialize the serial port * * If the same serial port is shared between main task and system * log task. As this serial port is already opened in system log * task, serial_opn_por will return E_OBJ which is not a real * error. */ ercd = serial_opn_por(TASK_PORTID); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * adjustment of task_loop. * * If TASK_LOOP is defined, the adjustment of task_loop will not be * done. * * If MEASURE_TWICE is defined, 2 measurements are made. The 2nd * result is adopted as the 1st is a little longer than the 2nd. */ #ifdef TASK_LOOP task_loop = TASK_LOOP; #else /* TASK_LOOP */ #ifdef MEASURE_TWICE task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); #endif /* MEASURE_TWICE */ task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); task_loop = LOOP_REF * 400UL / (stime2 - stime1); #endif /* TASK_LOOP */ tex_loop = task_loop / 5; /* * activate the target tasks */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); SVC_PERROR(act_tsk(TASK3)); /* * main loop */ do { SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1)); switch (c) { case 'e': case 's': case 'S': case 'd': case 'y': case 'Y': case 'z': case 'Z': message[tskno-1] = c; break; case '1': tskno = 1; tskid = TASK1; break; case '2': tskno = 2; tskid = TASK2; break; case '3': tskno = 3; tskid = TASK3; break; case 'a': syslog(LOG_INFO, "#act_tsk(%d)", tskno); SVC_PERROR(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(%d)", tskno); SVC_PERROR(ercd = can_act(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd); } break; case 't': syslog(LOG_INFO, "#ter_tsk(%d)", tskno); SVC_PERROR(ter_tsk(tskid)); break; case '>': syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY)); break; case '=': syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, MID_PRIORITY)); break; case '<': syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, LOW_PRIORITY)); break; case 'G': syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno); SVC_PERROR(ercd = get_pri(tskid, &tskpri)); if (ercd >= 0) { syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri); } break; case 'w': syslog(LOG_INFO, "#wup_tsk(%d)", tskno); SVC_PERROR(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(%d)", tskno); SVC_PERROR(ercd = can_wup(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd); } break; case 'l': syslog(LOG_INFO, "#rel_wai(%d)", tskno); SVC_PERROR(rel_wai(tskid)); break; case 'u': syslog(LOG_INFO, "#sus_tsk(%d)", tskno); SVC_PERROR(sus_tsk(tskid)); break; case 'm': syslog(LOG_INFO, "#rsm_tsk(%d)", tskno); SVC_PERROR(rsm_tsk(tskid)); break; case 'x': syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno); SVC_PERROR(ras_tex(tskid, 0x0001U)); break; case 'X': syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno); SVC_PERROR(ras_tex(tskid, 0x0002U)); break; case 'r': syslog(LOG_INFO, "#rot_rdq(three priorities)"); SVC_PERROR(rot_rdq(HIGH_PRIORITY)); SVC_PERROR(rot_rdq(MID_PRIORITY)); SVC_PERROR(rot_rdq(LOW_PRIORITY)); break; case 'c': syslog(LOG_INFO, "#sta_cyc(1)"); SVC_PERROR(sta_cyc(CYCHDR1)); break; case 'C': syslog(LOG_INFO, "#stp_cyc(1)"); SVC_PERROR(stp_cyc(CYCHDR1)); break; case 'b': syslog(LOG_INFO, "#sta_alm(1, 5000)"); SVC_PERROR(sta_alm(ALMHDR1, 5000)); break; case 'B': syslog(LOG_INFO, "#stp_alm(1)"); SVC_PERROR(stp_alm(ALMHDR1)); break; case 'V': #ifdef TOPPERS_SUPPORT_GET_UTM SVC_PERROR(get_utm(&utime1)); SVC_PERROR(get_utm(&utime2)); syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld", (ulong_t) utime1, (ulong_t) utime2); #else /* TOPPERS_SUPPORT_GET_UTM */ syslog(LOG_NOTICE, "get_utm is not supported."); #endif /* TOPPERS_SUPPORT_GET_UTM */ break; case 'v': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); break; case 'q': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG))); break; #ifdef BIT_KERNEL case ' ': SVC_PERROR(loc_cpu()); { extern ER bit_kernel(void); SVC_PERROR(ercd = bit_kernel()); if (ercd >= 0) { syslog(LOG_NOTICE, "bit_kernel passed."); } } SVC_PERROR(unl_cpu()); break; #endif /* BIT_KERNEL */ default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
/* * メインタスク */ void main_task(intptr_t exinf) { char_t c; ID tskid = TASK1; int_t tskno = 1; ER_UINT ercd; PRI tskpri; #ifndef TASK_LOOP volatile ulong_t i; SYSTIM stime1, stime2; #endif /* TASK_LOOP */ #ifdef TOPPERS_SUPPORT_GET_UTM SYSUTM utime1, utime2; #endif /* TOPPERS_SUPPORT_GET_UTM */ SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /* * シリアルポートの初期化 * * システムログタスクと同じシリアルポートを使う場合など,シリアル * ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は * ない. */ ercd = serial_opn_por(TASK_PORTID); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * ループ回数の設定 * * TASK_LOOPがマクロ定義されている場合,測定せずに,TASK_LOOPに定 * 義された値を,タスク内でのループ回数とする. * * MEASURE_TWICEがマクロ定義されている場合,1回目の測定結果を捨て * て,2回目の測定結果を使う.1回目の測定は長めの時間が出るため. */ #ifdef TASK_LOOP task_loop = TASK_LOOP; #else /* TASK_LOOP */ #ifdef MEASURE_TWICE task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); #endif /* MEASURE_TWICE */ task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); task_loop = LOOP_REF * 400UL / (stime2 - stime1); #endif /* TASK_LOOP */ tex_loop = task_loop / 5; /* * タスクの起動 */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); SVC_PERROR(act_tsk(TASK3)); /* * メインループ */ do { SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1)); switch (c) { case 'e': case 's': case 'S': case 'd': case 'y': case 'Y': case 'z': case 'Z': message[tskno-1] = c; break; case '1': tskno = 1; tskid = TASK1; break; case '2': tskno = 2; tskid = TASK2; break; case '3': tskno = 3; tskid = TASK3; break; case 'a': syslog(LOG_INFO, "#act_tsk(%d)", tskno); SVC_PERROR(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(%d)", tskno); SVC_PERROR(ercd = can_act(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd); } break; case 't': syslog(LOG_INFO, "#ter_tsk(%d)", tskno); SVC_PERROR(ter_tsk(tskid)); break; case '>': syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY)); break; case '=': syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, MID_PRIORITY)); break; case '<': syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, LOW_PRIORITY)); break; case 'G': syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno); SVC_PERROR(ercd = get_pri(tskid, &tskpri)); if (ercd >= 0) { syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri); } break; case 'w': syslog(LOG_INFO, "#wup_tsk(%d)", tskno); SVC_PERROR(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(%d)", tskno); SVC_PERROR(ercd = can_wup(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd); } break; case 'l': syslog(LOG_INFO, "#rel_wai(%d)", tskno); SVC_PERROR(rel_wai(tskid)); break; case 'u': syslog(LOG_INFO, "#sus_tsk(%d)", tskno); SVC_PERROR(sus_tsk(tskid)); break; case 'm': syslog(LOG_INFO, "#rsm_tsk(%d)", tskno); SVC_PERROR(rsm_tsk(tskid)); break; case 'x': syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno); SVC_PERROR(ras_tex(tskid, 0x0001U)); break; case 'X': syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno); SVC_PERROR(ras_tex(tskid, 0x0002U)); break; case 'r': syslog(LOG_INFO, "#rot_rdq(three priorities)"); SVC_PERROR(rot_rdq(HIGH_PRIORITY)); SVC_PERROR(rot_rdq(MID_PRIORITY)); SVC_PERROR(rot_rdq(LOW_PRIORITY)); break; case 'c': syslog(LOG_INFO, "#sta_cyc(1)"); SVC_PERROR(sta_cyc(CYCHDR1)); break; case 'C': syslog(LOG_INFO, "#stp_cyc(1)"); SVC_PERROR(stp_cyc(CYCHDR1)); break; case 'b': syslog(LOG_INFO, "#sta_alm(1, 5000)"); SVC_PERROR(sta_alm(ALMHDR1, 5000)); break; case 'B': syslog(LOG_INFO, "#stp_alm(1)"); SVC_PERROR(stp_alm(ALMHDR1)); break; case 'V': #ifdef TOPPERS_SUPPORT_GET_UTM SVC_PERROR(get_utm(&utime1)); SVC_PERROR(get_utm(&utime2)); syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld", (ulong_t) utime1, (ulong_t) utime2); #else /* TOPPERS_SUPPORT_GET_UTM */ syslog(LOG_NOTICE, "get_utm is not supported."); #endif /* TOPPERS_SUPPORT_GET_UTM */ break; case 'v': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); break; case 'q': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG))); break; #ifdef BIT_KERNEL case ' ': SVC_PERROR(loc_cpu()); { extern ER bit_kernel(void); SVC_PERROR(ercd = bit_kernel()); if (ercd >= 0) { syslog(LOG_NOTICE, "bit_kernel passed."); } } SVC_PERROR(unl_cpu()); break; #endif /* BIT_KERNEL */ default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
/* * メインタスク */ void main_task(intptr_t exinf) { char c; ID tskid = TASK1; int_t tskno = 1; ER_UINT ercd; PRI tskpri; #ifndef TASK_LOOP volatile ulong_t i; SYSTIM stime1, stime2; #endif /* TASK_LOOP */ HRTCNT hrtcnt1, hrtcnt2; SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /* * シリアルポートの初期化 * * システムログタスクと同じシリアルポートを使う場合など,シリアル * ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は * ない. */ ercd = serial_opn_por(TASK_PORTID); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * ループ回数の設定 * * 並行実行されるタスク内での空ループの回数(task_loop)は,空ルー * プの実行時間が約0.4秒になるように設定する.この設定のために, * LOOP_REF回の空ループの実行時間を,その前後でget_timを呼ぶことで * 測定し,その測定結果から空ループの実行時間が0.4秒になるループ回 * 数を求め,task_loopに設定する. * * LOOP_REFは,デフォルトでは1,000,000に設定しているが,想定したよ * り遅いプロセッサでは,サンプルプログラムの実行開始に時間がかか * りすぎるという問題を生じる.逆に想定したより速いプロセッサでは, * LOOP_REF回の空ループの実行時間が短くなり,task_loopに設定する値 * の誤差が大きくなるという問題がある. * * そこで,そのようなターゲットでは,target_test.hで,LOOP_REFを適 * 切な値に定義するのが望ましい. * * また,task_loopの値を固定したい場合には,その値をTASK_LOOPにマ * クロ定義する.TASK_LOOPがマクロ定義されている場合,上記の測定を * 行わずに,TASK_LOOPに定義された値を空ループの回数とする. * * ターゲットによっては,空ループの実行時間の1回目の測定で,本来よ * りも長めになるものがある.このようなターゲットでは,MEASURE_TWICE * をマクロ定義することで,1回目の測定結果を捨てて,2回目の測定結果 * を使う. */ #ifdef TASK_LOOP task_loop = TASK_LOOP; #else /* TASK_LOOP */ #ifdef MEASURE_TWICE task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); #endif /* MEASURE_TWICE */ task_loop = LOOP_REF; SVC_PERROR(get_tim(&stime1)); for (i = 0; i < task_loop; i++); SVC_PERROR(get_tim(&stime2)); task_loop = LOOP_REF * 400LU / (ulong_t)(stime2 - stime1) * 1000LU; #endif /* TASK_LOOP */ /* * タスクの起動 */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); SVC_PERROR(act_tsk(TASK3)); /* * メインループ */ do { SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1)); switch (c) { case 'e': case 's': case 'S': case 'd': case 'y': case 'Y': case 'z': case 'Z': message[tskno-1] = c; break; case '1': tskno = 1; tskid = TASK1; break; case '2': tskno = 2; tskid = TASK2; break; case '3': tskno = 3; tskid = TASK3; break; case 'a': syslog(LOG_INFO, "#act_tsk(%d)", tskno); SVC_PERROR(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(%d)", tskno); SVC_PERROR(ercd = can_act(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd); } break; case 't': syslog(LOG_INFO, "#ter_tsk(%d)", tskno); SVC_PERROR(ter_tsk(tskid)); break; case '>': syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY)); break; case '=': syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, MID_PRIORITY)); break; case '<': syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno); SVC_PERROR(chg_pri(tskid, LOW_PRIORITY)); break; case 'G': syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno); SVC_PERROR(ercd = get_pri(tskid, &tskpri)); if (ercd >= 0) { syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri); } break; case 'w': syslog(LOG_INFO, "#wup_tsk(%d)", tskno); SVC_PERROR(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(%d)", tskno); SVC_PERROR(ercd = can_wup(tskid)); if (ercd >= 0) { syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd); } break; case 'l': syslog(LOG_INFO, "#rel_wai(%d)", tskno); SVC_PERROR(rel_wai(tskid)); break; case 'u': syslog(LOG_INFO, "#sus_tsk(%d)", tskno); SVC_PERROR(sus_tsk(tskid)); break; case 'm': syslog(LOG_INFO, "#rsm_tsk(%d)", tskno); SVC_PERROR(rsm_tsk(tskid)); break; case 'x': syslog(LOG_INFO, "#ras_ter(%d)", tskno); SVC_PERROR(ras_ter(tskid)); break; case 'r': syslog(LOG_INFO, "#rot_rdq(three priorities)"); SVC_PERROR(rot_rdq(HIGH_PRIORITY)); SVC_PERROR(rot_rdq(MID_PRIORITY)); SVC_PERROR(rot_rdq(LOW_PRIORITY)); break; case 'c': syslog(LOG_INFO, "#sta_cyc(1)"); SVC_PERROR(sta_cyc(CYCHDR1)); break; case 'C': syslog(LOG_INFO, "#stp_cyc(1)"); SVC_PERROR(stp_cyc(CYCHDR1)); break; case 'b': syslog(LOG_INFO, "#sta_alm(1, 5000000)"); SVC_PERROR(sta_alm(ALMHDR1, 5000000)); break; case 'B': syslog(LOG_INFO, "#stp_alm(1)"); SVC_PERROR(stp_alm(ALMHDR1)); break; case 'V': hrtcnt1 = fch_hrt(); hrtcnt2 = fch_hrt(); syslog(LOG_NOTICE, "hrtcnt1 = %tu, hrtcnt2 = %tu", hrtcnt1, hrtcnt2); break; case 'o': #ifdef TOPPERS_SUPPORT_OVRHDR syslog(LOG_INFO, "#sta_ovr(%d, 2000000)", tskno); SVC_PERROR(sta_ovr(tskid, 2000000)); #else /* TOPPERS_SUPPORT_OVRHDR */ syslog(LOG_NOTICE, "sta_ovr is not supported."); #endif /* TOPPERS_SUPPORT_OVRHDR */ break; case 'O': #ifdef TOPPERS_SUPPORT_OVRHDR syslog(LOG_INFO, "#stp_ovr(%d)", tskno); SVC_PERROR(stp_ovr(tskid)); #else /* TOPPERS_SUPPORT_OVRHDR */ syslog(LOG_NOTICE, "stp_ovr is not supported."); #endif /* TOPPERS_SUPPORT_OVRHDR */ break; case 'v': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); break; case 'q': SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG))); break; #ifdef BIT_KERNEL case ' ': SVC_PERROR(loc_cpu()); { extern ER bit_kernel(void); SVC_PERROR(ercd = bit_kernel()); if (ercd >= 0) { syslog(LOG_NOTICE, "bit_kernel passed."); } } SVC_PERROR(unl_cpu()); break; #endif /* BIT_KERNEL */ default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
void ev3_main_task(intptr_t exinf) { ER_UINT ercd; // Pause application at first platform_pause_application(true); /** * Initialize FatFS */ initialize_fatfs_dri(); /** * Load configurations */ ev3rt_load_configuration(); /** * Initialize LCD */ initialize_lcd_dri(); /** * Initialize EV3RT console and open its SIO port. */ initialize_console_dri(); ercd = serial_opn_por(SIO_PORT_LCD); if (ercd < 0 && MERCD(ercd) != E_OBJ) { syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.", itron_strerror(ercd), SERCD(ercd)); } SVC_PERROR(serial_ctl_por(SIO_PORT_LCD, IOCTL_NULL)); platform_pause_application(false); is_initialized = false; // syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /** * Initialize all drivers */ for(uint32_t i = 0; i < tnum_drivers; ++i) if (drivers[i].init_func != NULL) drivers[i].init_func(0); platform_soft_reset(); // Banner syslog(LOG_NOTICE, ""); syslog(LOG_NOTICE, ""); syslog(LOG_NOTICE, ""); syslog(LOG_NOTICE, ""); syslog(LOG_NOTICE, " _____ ______ ___ ______"); syslog(LOG_NOTICE, " / __/ | / /_ // _ \/_ __/"); syslog(LOG_NOTICE, " / _/ | |/ //_ </ , _/ / /"); syslog(LOG_NOTICE, "/___/ |___/____/_/|_| /_/"); syslog(LOG_NOTICE, "============================="); syslog(LOG_NOTICE, "Powered by TOPPERS/HRP2 RTOS"); syslog(LOG_NOTICE, "Initialization is completed.."); platform_pause_application(true); is_initialized = true; brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN); #if 0 // Legacy code initialize_analog_dri(); initialize_uart_dri(); initialize_motor_dri(); initialize_sound_dri(); initialize_fatfs_dri(); // initialize_ev3(); // syslog(LOG_ERROR, "TEST ZMODEM"); // uint8_t c; // while(1) { // serial_rea_dat(SIO_PORT_UART, &c, 1); // ER ercd; // switch (c) { // case 'r': // ercd = zmodem_recv_file(app_text_mempool, sizeof(app_text_mempool)); // syslog(LOG_ERROR, "ZMODEM ercd = %d.", ercd); // break; // default: // syslog(LOG_ERROR, "Key %c pressed.", c); // } // } //EV3::ev3 = new EV3::EV3(); //#define TEST_ANALOG_SENSOR // //#ifdef TEST_ANALOG_SENSOR // while(1) { // /* // * Debug Analog Port 2 // */ // int sv = analog_get_short(1); // printk("Sensor PIN1: %d\n", sv); // printk("Sensor PIN6: %d\n", analog_get_short_pin6(1)); // // GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14; // target_fput_log('H'); // target_fput_log('E'); // target_fput_log('R'); // target_fput_log('E'); // target_fput_log('\n'); // tslp_tsk(1000); // } //#endif //#ifdef TEST_UART // //init_pwm(); // //ev3_motor_set_speed(PortA, 50); // //tslp_tsk(3000); // //ev3_motor_brake(PortA, true); // init_uart(); // while(1) { // /* // * Debug UART Port 2 // */ // int sv = uart_get_short(1); // printk("Sensor value: %d\n", sv); // // GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14; // target_fput_log('H'); // target_fput_log('E'); // target_fput_log('R'); // target_fput_log('E'); // target_fput_log('\n'); // tslp_tsk(1000); // } //#endif #endif }