void taskM ( void ) {
rt_sem_p(&xenomai_semaphore, TM_INFINITE); // wait for synch
print_pri(&taskMed, "TaskM started\n");
rt_task_sleep(TIME_UNIT);
print_pri(&taskMed, "TaskM starting work\n");
busy_wait_ms(5*TIME_UNIT_MS);
print_pri(&taskMed, "TaskM complete\n");
}
void taskH ( void ) {
rt_sem_p(&xenomai_semaphore, TM_INFINITE); // wait for synch
print_pri(&taskHigh, "TaskH started\n");
rt_task_sleep(2*TIME_UNIT);
rt_mutex_acquire(&resMut,NULL); // lock resource
print_pri(&taskHigh, "TaskH locked resource\n");
rt_task_sleep(2*TIME_UNIT);
rt_mutex_release(&resMut); // unlock the resource
print_pri(&taskHigh, "TaskH released resource\n");
}
void taskL ( void ) {
rt_sem_p(&xenomai_semaphore, TM_INFINITE); // wait for synch
print_pri(&taskLow, "TaskL started\n");
rt_mutex_acquire(&resMut,NULL); // lock resource
print_pri(&taskLow, "TaskL locked resource\n");
busy_wait_ms(3*TIME_UNIT_MS);
print_pri(&taskLow, "TaskL completed work\n");
print_pri(&taskLow, "TaskL released resource\n");
rt_mutex_release(&resMut); // release resource
}
void task_function(void* data)
{
//rt_sem_p(sem, TM_INFINITE);
print_pri(NULL,(char) data);
//rt_sem_v(sem);
}
void task_M(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_task_sleep_ms(1);
//rt_sem_p(sem,TM_INFINITE);
busy_wait_ms(5);
print_pri(NULL,(char) data);
//rt_sem_v(sem,TM_INFINITE);
}
void task_H(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_task_sleep_ms(1);
rt_sem_p(&semB,TM_INFINITE);
rt_printf("H : I got B\n");
busy_wait_ms(1);
rt_sem_p(&semA,TM_INFINITE);
busy_wait_ms(2);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
void task_L(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_sem_p(&semA,TM_INFINITE);
int prio = rt_task_set_priority(NULL,99);
rt_printf("L : I got A\n");
busy_wait_ms(3);
rt_sem_p(&semB,TM_INFINITE);
busy_wait_ms(3);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
void
print_procs(char *name, int arity)
{
dident d = enter_dict(name, arity);
if (d == D_UNKNOWN)
{
p_fprintf(current_output_,"No such did");
ec_newline(current_output_);
}
else if (! d->procedure)
{
p_fprintf(current_output_,"No procedures");
ec_newline(current_output_);
}
else
{
pri *pd;
for (pd=d->procedure; pd; pd=pd->nextproc)
print_pri(pd);
}
}
