static inline void RT_SEM_SIGNAL(unsigned long node, int port, SEM *sem)
{
if (rt_waiting_return(node, port)) {
RT_sem_signal(node, port > 0 ? port : -port, sem);
} else {
RT_sem_signal(node, port, sem);
}
}
int main(int argc, char *argv[])
{
RT_TASK *task;
struct sockaddr_in addr;
int i, srvport;
if (!(task = rt_task_init(nam2num("TSKCOD"), 0, 0, 0))) {
printf("CANNOT INIT TASK CODE\n");
exit(1);
}
comnode = 0;
if (argc == 2 && strstr(argv[1], "ComNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
}
if (!comnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
}
init_module();
for (i = 0; i < NUM_TASKS; i++) {
rt_thread_join(thread[i]);
}
while ((srvport = rt_request_port(comnode)) <= 0) {
msleep(100);
}
RT_sem_signal(comnode, srvport, end_sem);
rt_release_port(comnode, srvport);
rt_task_delete(task);
exit(0);
}
static void timer_tick(void)
{
rt_times.tick_time = rt_times.intr_time;
rt_times.intr_time = rt_times.tick_time + rt_times.periodic_tick;
rt_set_timer_delay(0);
if (rt_times.tick_time >= rt_times.linux_time) {
rt_times.linux_time += rt_times.linux_tick;
rt_pend_linux_irq(TIMER_8254_IRQ);
}
if (run) {
if (rt_waiting_return(tasknode, taskport)) {
overuns++;
}
switch(run) {
case 1: RT_sem_signal(tasknode, -taskport, rmt_sem);
rt_printk("SEM SIGNAL %d\n", ++cnt);
break;
case 2:
RT_task_resume(tasknode, -taskport, rmt_task);
rt_printk("TASK RESUME %d\n", ++cnt);
break;
case 3:
RT_send_if(tasknode, -taskport, rmt_task, run);
rt_printk("TASK SEND %d\n", ++cnt);
break;
}
}
}
int main(int argc, char *argv[])
{
RT_TASK *task;
struct sockaddr_in addr;
int i, srvport;
if (!(task = rt_task_init(nam2num("STRTSK"), 0, 0, 0))) {
printf("CANNOT INIT START_TASK TASK\n");
exit(1);
}
comnode = tasknode = 0;
for (i = 0; i < argc; i++) {
if (strstr(argv[i], "ComNode=")) {
inet_aton(argv[i] + 8, &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
argv[i] = 0;
continue;
}
if (strstr(argv[i], "TaskNode=")) {
inet_aton(argv[i] + 9, &addr.sin_addr);
tasknode = addr.sin_addr.s_addr;
argv[i] = 0;
continue;
}
}
if (!comnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
}
if (!tasknode) {
inet_aton("127.0.0.1", &addr.sin_addr);
tasknode = addr.sin_addr.s_addr;
}
rt_grow_and_lock_stack(100000);
init_module();
rt_thread_join(thread);
while ((srvport = rt_request_hard_port(comnode)) <= 0) {
msleep(100);
}
rt_make_hard_real_time();
RT_sem_signal(comnode, srvport, end_sem);
rt_make_soft_real_time();
rt_release_port(comnode, srvport);
rt_task_delete(task);
exit(0);
}
static void sup_fun(long none)
{
while (tasknode && (taskport = rt_request_hard_port(tasknode)) <= 0);
rt_mbx_receive(&mbx, &rmt_task, sizeof(rmt_task));
rt_mbx_receive(&mbx, &rmt_sem, sizeof(rmt_sem));
rt_mbx_receive(&mbx, &run, 1);
do {
rt_task_suspend(&sup_task);
switch(run) {
case 1: RT_sem_signal(tasknode, -taskport, rmt_sem);
break;
case 2:
RT_task_resume(tasknode, -taskport, rmt_task);
break;
case 3:
RT_send_if(tasknode, -taskport, rmt_task, run);
break;
}
} while (rt_mbx_receive_if(&mbx, &run, 1));
rt_release_port(tasknode, taskport);
rt_printk("ALL INTERRUPT MODULE FUNCTIONS TERMINATED\n");
}
static void start_task_code(long none)
{
int i, srvport;
char buf[9];
while ((srvport = rt_request_port(tasknode)) <= 0);
rt_printk("START TASK GOT SYNC TASKNODE PORT %lx, %d\n", tasknode, srvport);
while (!RT_get_adr(tasknode, srvport, task[NUM_TASKS - 1]));
rt_printk("START TASK REL SYNC TASKNODE PORT %lx, %d\n", tasknode, srvport);
rt_release_port(tasknode, srvport);
srvport = rt_request_port(comnode);
rt_printk("START TASK GOT ITS INIT AND EXEC COMNODE PORT %lx, %d\n", comnode, srvport);
print_sem = RT_get_adr(comnode, srvport, "PRTSEM");
sync_sem = RT_get_adr(comnode, srvport, "SYNCSM");
prio_sem = RT_get_adr(comnode, srvport, "PRIOSM");
mbx_in = RT_get_adr(comnode, srvport, "MBXIN");
mbx_out = RT_get_adr(comnode, srvport, "MBXOUT");
for (i = 0; i < NUM_TASKS; ++i) {
sems[i] = RT_get_adr(comnode, srvport, sem[i]);
}
buf[8] = 0;
RT_sem_signal(comnode, srvport, sems[0]);
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_wait(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk(sync_str);
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_signal(comnode, srvport, prio_sem);
}
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_wait(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk(sync_str);
GIVE_PRINT;
TAKE_PRINT;
rt_printk("testing message queues\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
if (RT_mbx_send(comnode, srvport, mbx_in, strs[i], 8)) {
TAKE_PRINT;
rt_printk("RT_mbx_send() failed\n");
GIVE_PRINT;
}
}
for (i = 0; i < NUM_TASKS; ++i) {
RT_mbx_receive(comnode, srvport, mbx_out, buf, 8);
TAKE_PRINT;
rt_printk("\nreceived from mbx_out: %s", buf);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_signal(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk("\ninit task complete\n");
GIVE_PRINT;
rt_release_port(comnode, srvport);
rt_printk("START TASK REL ITS EXEC COMNODE PORT %lx, %d\n", comnode, srvport);
atomic_inc(&cleanup);
}
static void *start_task_code(void *args)
{
int i, srvport;
char buf[9];
RT_TASK *task;
buf[8] = 0;
if (!(task = rt_thread_init(getpid(), 10, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT START_TASK BUDDY\n");
exit(1);
}
srvport = rt_request_hard_port(comnode);
printf("START TASK GOT ITS EXEC COMNODE PORT %lx, %d\n", comnode, srvport);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
RT_SEM_SIGNAL(comnode, -srvport, sems[0]);
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_wait(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk(sync_str);
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_SEM_SIGNAL(comnode, -srvport, prio_sem);
}
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_sem_wait(comnode, srvport, sync_sem);
}
TAKE_PRINT;
rt_printk(sync_str);
GIVE_PRINT;
TAKE_PRINT;
rt_printk("testing message queues\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
if (RT_mbx_send(comnode, srvport, mbx_in, strs[i], 8)) {
TAKE_PRINT;
rt_printk("RT_mbx_send() failed\n");
GIVE_PRINT;
}
}
for (i = 0; i < NUM_TASKS; ++i) {
RT_mbx_receive(comnode, srvport, mbx_out, buf, 8);
TAKE_PRINT;
rt_printk("\nreceived from mbx_out: %s", buf);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
RT_SEM_SIGNAL(comnode, -srvport, sync_sem);
}
TAKE_PRINT;
rt_printk("\ninit task complete\n");
GIVE_PRINT;
printf("START TASK REL ITS EXEC COMNODE PORT %lx, %d\n", comnode, srvport);
RT_sem_signal(comnode, srvport, end_sem);
rt_make_soft_real_time();
rt_release_port(comnode, srvport);
rt_task_delete(task);
return (void *)0;
}
static void *task_code(void *arg)
{
RT_TASK *mytask;
int task_no, i, ret, srvport;
char buf[9];
task_no = *((int *)arg);
buf[8] = 0;
if (!(mytask = rt_thread_init(nam2num(task[task_no]), NUM_TASKS - task_no, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT TASK TASK %d\n", task_no);
exit(1);
}
srvport = rt_request_port(comnode);
printf("TASK_NO %d GOT ITS EXEC COMNODE PORT %lx, %d\n", task_no, comnode, srvport);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
for (i = 0; i < 5; ++i) {
RT_sem_wait(comnode, srvport, sems[task_no]);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
if (task_no == NUM_TASKS - 1) {
TAKE_PRINT;
rt_printk("\n");
GIVE_PRINT;
}
RT_SEM_SIGNAL(comnode, -srvport, sems[(task_no + 1)%NUM_TASKS]);
}
RT_SEM_SIGNAL(comnode, -srvport, sync_sem);
RT_sem_wait(comnode, srvport, prio_sem);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
RT_sleep(comnode, srvport, 1000000000LL);
RT_sem_wait_timed(comnode, srvport, prio_sem, (task_no + 1)*1000000000LL);
TAKE_PRINT;
rt_printk("sem timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
RT_SEM_SIGNAL(comnode, -srvport, sync_sem);
/* message queue stuff */
if ((ret = RT_mbx_receive(comnode, srvport, mbx_in, buf, 8)) != 0) {
TAKE_PRINT;
rt_printk("RT_mbx_receive() failed with %d\n", ret);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\nreceived by task %d ", task_no);
rt_printk(buf);
GIVE_PRINT;
RT_mbx_send(comnode, srvport, mbx_out, strs[task_no], 8);
/* test receive timeout */
RT_sem_wait(comnode, srvport, sync_sem);
if (RT_mbx_receive_timed(comnode, srvport, mbx_in, buf, 8, (task_no + 1)*1000000000LL)) {
TAKE_PRINT;
rt_printk("mbx timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
}
TAKE_PRINT;
rt_printk("\ntask %d complete\n", task_no);
GIVE_PRINT;
rt_make_soft_real_time();
printf("TASK_NO %d REL ITS EXEC COMNODE PORT %lx, %d\n", task_no, comnode, srvport);
RT_sem_signal(comnode, srvport, end_sem);
rt_release_port(comnode, srvport);
rt_task_delete(mytask);
return (void *)0;
}