void taskh_func(long tid)
{
RTIME time;
unsigned int msg = 0, wait;
rt_send(&taskm, msg);
rt_send(&taskl, msg);
while (1) {
rt_receive(&taskm, &msg);
time = rt_get_time_ns();
if (MUTEX_LOCK(&mutex) <= 1) {
if ((wait = (int)(rt_get_time_ns() - time)) > 250000) {
rt_printk("PRIORITY INVERSION, WAITED FOR %d us\n", wait/1000);
} else {
rt_printk("NO PRIORITY INVERSION, WAITED FOR %d us\n", wait/1000);
}
if (SemType) {
MUTEX_LOCK(&mutex);
MUTEX_LOCK(&mutex);
rt_busy_sleep(100000);
MUTEX_LOCK(&mutex);
}
rt_busy_sleep(100000);
if (SemType) {
rt_sem_signal(&mutex);
rt_busy_sleep(100000);
rt_sem_signal(&mutex);
rt_sem_signal(&mutex);
}
rt_sem_signal(&mutex);
} else {
rt_task_suspend(0);
}
}
}
static void driver(int t)
{
RT_TASK *thread[NTASKS];
int i, l;
unsigned int msg = 0;
RTIME now;
for (i = 1; i < NTASKS; i++) {
thread[0] = rt_receive(0, &msg);
thread[msg] = thread[0];
}
for (i = 1; i < NTASKS; i++) {
rt_return(thread[i], i);
}
now = rt_get_time();
rt_task_make_periodic(rt_whoami(), now + NTASKS*tick_period, tick_period);
msg = 0;
l = LOOPS;
while(l--) {
for (i = 1; i < NTASKS; i++) {
cpu_used[hard_cpu_id()]++;
if (i%2) {
rt_rpc(thread[i], msg, &msg);
} else {
rt_send(thread[i], msg);
msg = 1 - msg;
}
rt_task_wait_period();
}
}
for (i = 1; i < NTASKS; i++) {
rt_send(thread[i], END);
}
}
static void ClockChrono_Read(long t)
{
char ch;
unsigned int run = 0;
while(1) {
cpu_used[hard_cpu_id()]++;
rt_sem_wait(&keybrd_sem);
rtf_get(Keyboard, &ch, 1);
ch = toupper(ch);
switch(ch) {
case 'T': case 'R': case 'H': case 'M': case 'S':
CommandClock_Put(ch);
break;
case 'C': case 'I': case 'E':
CommandChrono_Put(ch);
break;
case 'N':
hide = ~hide;
break;
case 'P':
pause = TRUE;
rt_fractionated_sleep(nano2count(FIVE_SECONDS));
pause = FALSE;
break;
case 'K': case 'D':
run += ch;
if (run == ('K' + 'D')) {
rt_send(&clock, run);
rt_send(&chrono, run);
}
break;
}
}
}
void taskm_func(long tid)
{
unsigned int msg = 0;
rt_receive(0, &msg);
rt_send(&taskl, msg);
while (1) {
rt_receive(&taskl, &msg);
rt_send(&taskh, msg);
rt_busy_sleep(5000000);
}
}
static void *logMsg_fun(void *args)
{
RT_TASK *buddy;
struct { int nch; FILE *fs; } type;
char msg[MAX_MSG_SIZE];
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
if (!(buddy = rt_task_init_schmod(nam2num("LOGSRV"), 1, 0, 0, SCHED_FIFO, 0xFFFFFFFF))) {
printf("CANNOT INIT LOG MSG SERVER BUDDY TASK %p.\n", buddy);
return (void *)1;
}
rt_send(*(RT_TASK **)args, (unsigned int)buddy);
while (1) {
if (!rt_mbx_receive(logmbx, &type, sizeof(type)) && !rt_mbx_receive(logmbx, msg, type.nch)) {
if (type.fs) {
fprintf(type.fs, msg);
} else {
fprintf(stderr, msg);
fprintf(logfile, msg);
}
} else {
while(!rt_mbx_receive_wp(logmbx, msg, MAX_MSG_SIZE));
}
}
return (void *)0;
}
static void Display_task(long t)
{
unsigned long command;
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *tput = (RT_TASK *)0, *hput = (RT_TASK *)0, *task;
while (ackn != ('g' + 'p' + 'P')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'g':
get = task;
ackn += command;
break;
case 'p':
tput = task;
ackn += command;
break;
case 'P':
hput = task;
ackn += command;
break;
}
}
rt_return(get, command);
rt_return(tput, command);
rt_return(hput, command);
while(1) {
cpu_used[hard_cpu_id()]++;
task = rt_receive(0, &command);
if (task == tput || task == hput) {
rt_send(get, command);
}
}
}
void *CommandClock_task(void *args)
{
RT_TASK *mytask;
unsigned long command;
char R = 'R';
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *put = (RT_TASK *)0, *task;
if (!(mytask = rt_thread_init(nam2num("CLKTSK"), 1, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT TASK CommandClock_task\n");
exit(1);
}
printf("INIT TASK CommandClock_task %p.\n", mytask);
mlockall(MCL_CURRENT | MCL_FUTURE);
Clockstatus = stopped;
while (ackn != ('a' + 'b')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'b':
get = task;
ackn += command;
break;
case 'a':
put = task;
ackn += command;
break;
}
}
rt_return(put, command);
rt_return(get, command);
while(1) {
switch (Clockstatus) {
case stopped:
rt_receive(put, &command);
if (command == 'R') {
Clockstatus = running;
}
break;
case running:
if (rt_receive_if(put, &command)) {
if (command == 'T') {
Clockstatus = stopped;
}
} else {
command = R;
}
break;
}
rt_send(get, command);
if (command == 'F') {
goto end;
}
}
end:
rt_task_delete(mytask);
printf("END TASK CommandClock_task %p.\n", mytask);
return 0;
}
void *thread_fun(void *arg)
{
funtask = rt_task_init_schmod(0xcaccb, 0, 0, 0, SCHED_FIFO, 0x1);
rt_printk("FUN INIT\n");
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
if (!SNDBRCV) {
rt_sleep(nano2count(100000000));
}
if (USE_RPC) {
unsigned long msg;
rt_printk("FUN RPC\n");
rt_rpc(maintask, 0, &msg);
} else {
rt_printk("FUN SEND\n");
rt_send(maintask, 0);
rt_printk("FUN SUSP\n");
rt_task_suspend(funtask);
}
rt_printk("FUN DONE\n");
rt_task_delete(funtask);
rt_printk("FUN END\n");
return 0;
}
static void CommandChrono_task(long t)
{
RTIME fiveSeconds = nano2count(FIVE_SECONDS);
unsigned long command;
unsigned int buffered = 0;
unsigned int C = 'C';
unsigned int R = 'R';
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *put = (RT_TASK *)0, *task;
Chronostatus = stoppedInitial;
while (ackn != ('c' + 'd')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'd':
get = task;
ackn += command;
break;
case 'c':
put = task;
ackn += command;
break;
}
}
rt_return(put, command);
rt_return(get, command);
while(1) {
cpu_used[hard_cpu_id()]++;
switch (Chronostatus) {
case stoppedInitial:
if (buffered) {
command = buffered;
buffered = 0;
} else {
rt_receive(put, &command);
}
Chronostatus = running;
break;
case running:
if (rt_receive_if(put, &command)) {
if (command == 'E') {
Chronostatus = stoppedFinal;
}
} else {
command = C;
}
break;
case stoppedFinal:
Chronostatus = stoppedInitial;
if (rt_receive_timed(put, &command, fiveSeconds) > 0) {
buffered = command;
}
command = R;
break;
}
rt_send(get, command);
}
}
int main(void)
{
int i, indx[NTASKS];
unsigned long mytask_name = nam2num("MASTER");
signal(SIGINT, endme);
if (!(mytask = rt_task_init(mytask_name, 1, 0, 0))) {
printf("CANNOT INIT TASK %lu\n", mytask_name);
exit(1);
}
printf("MASTER INIT: name = %lu, address = %p.\n", mytask_name, mytask);
sem = rt_sem_init(10000, 0);
rt_set_oneshot_mode();
// rt_set_periodic_mode();
start_rt_timer(0);
for (i = 0; i < ntasks; i++) {
indx[i] = i;
if (!(task[i] = rt_thread_create(thread_fun, &indx[i], 10000))) {
printf("ERROR IN CREATING THREAD %d\n", indx[i]);
exit(1);
}
}
for (i = 0; i < ntasks; i++) {
while (!rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_send(rt_get_adr(taskname(i)), (unsigned long)sem);
}
for (i = 0; i < ntasks; i++) {
rt_sem_wait(sem);
}
for (i = 0; i < ntasks; i++) {
while (rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_thread_join(task[i]);
}
rt_sem_delete(sem);
stop_rt_timer();
rt_task_delete(mytask);
printf("MASTER %lu %p ENDS\n", mytask_name, mytask);
return 0;
}
void CommandChrono_Put(char command)
{
static RT_TASK *ackn = 0;
unsigned int put = 'c';
unsigned long msg;
if (ackn != &Chrono) {
ackn = rt_rpc(&Chrono, put, &msg);
}
if ((Chronostatus == running) != (command == 'C')) {
rt_send(&Chrono, (unsigned int)command);
}
}
void CommandClock_Put(char command)
{
static RT_TASK *ackn = 0;
unsigned int put = 'a';
unsigned long msg;
if (ackn != rt_get_adr(nam2num("CLKTSK"))) {
ackn = rt_rpc(rt_get_adr(nam2num("CLKTSK")), put, &msg);
}
if (((Clockstatus == running) == (command == 'T')) || command == 'F') {
rt_send(rt_get_adr(nam2num("CLKTSK")), (unsigned int)command);
}
}
void *Display_task(void *args)
{
RT_TASK *mytask;
unsigned long command;
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *tput = (RT_TASK *)0, *hput = (RT_TASK *)0, *task;
if (!(mytask = rt_thread_init(nam2num("DSPTSK"), 1, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT TASK Display_task\n");
exit(1);
}
printf("INIT TASK Display_task %p.\n", mytask);
mlockall(MCL_CURRENT | MCL_FUTURE);
while (ackn != ('g' + 'p' + 'P')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'g':
get = task;
ackn += command;
break;
case 'p':
tput = task;
ackn += command;
break;
case 'P':
hput = task;
ackn += command;
break;
}
}
rt_return(get, command);
rt_return(tput, command);
rt_return(hput, command);
while(1) {
task = rt_receive(0, &command);
if (task == tput || task == hput) {
rt_send(get, command);
if (((char *)command)[1] == 101) {
goto end;
}
}
}
end:
rt_task_delete(mytask);
printf("END TASK Display_task %p.\n", mytask);
return 0;
}
int main(void)
{
RT_TASK *receiving_task;
RT_TASK *agentask;
int i, *shm;
unsigned int msg, chksum;
struct sched_param mysched;
mysched.sched_priority = 99;
if( sched_setscheduler( 0, SCHED_FIFO, &mysched ) == -1 ) {
puts(" ERROR IN SETTING THE SCHEDULER UP");
perror( "errno" );
exit( 0 );
}
mlockall(MCL_CURRENT | MCL_FUTURE);
receiving_task = rt_task_init(nam2num("RTSK"), 0, 0, 0);
agentask = rt_get_adr(nam2num("ATSK"));
shm = rtai_malloc(nam2num("MEM"), 1);
while(1) {
printf("RECEIVING TASK RPCS TO AGENT TASK %x\n", 0xaaaaaaaa);
rt_rpc(agentask, 0xaaaaaaaa, &msg);
printf("AGENT TASK RETURNED %x\n", msg);
if (msg != 0xeeeeeeee) {
chksum = 0;
for (i = 1; i <= shm[0]; i++) {
chksum += shm[i];
}
printf("RECEIVING TASK: CHECKSUM = %x\n", chksum);
if (chksum != shm[shm[0] + 1]) {
printf("RECEIVING TASK: WRONG SHMEM CHECKSUM\n");
}
printf("RECEIVING TASK SENDS TO AGENT TASK %x\n", 0xaaaaaaaa);
rt_send(agentask, 0xaaaaaaaa);
} else {
printf("RECEIVING TASK DELETES ITSELF\n");
rt_task_delete(receiving_task);
printf("END RECEIVING TASK\n");
exit(1);
}
}
return 0;
}
void taskl_func(long tid)
{
unsigned int msg = 0;
rt_receive(0, &msg);
rt_receive(0, &msg);
while (MUTEX_LOCK(&mutex) <= 1) {
if (SemType) {
MUTEX_LOCK(&mutex);
rt_busy_sleep(100000);
MUTEX_LOCK(&mutex);
}
rt_send(&taskm, msg);
rt_busy_sleep(100000);
if (SemType) {
rt_sem_signal(&mutex);
rt_busy_sleep(100000);
rt_sem_signal(&mutex);
}
rt_sem_signal(&mutex);
rt_sleep(nano2count(500000000));
}
rt_task_suspend(0);
}
void *tskfun(void *tasknr)
{
int tsknr, k, prio, bprio;
tsknr = (int)tasknr;
task[tsknr] = rt_task_init_schmod(0, NTASKS - tsknr - 1, 0, 0, SCHED_FIFO, CPUS_ALLOWED);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sem_wait(sem[tsknr]);
rt_send(task[0], 0);
rt_sem_wait(sem[tsknr - 1]);
rt_sem_signal(sem[tsknr]);
rt_sem_signal(sem[tsknr - 1]);
rt_printk("AT TSKNR EXIT %d > (TSKNR-PRI):\n", tsknr);
for (k = 0; k < tsknr; k++) {
rt_get_priorities(task[k], &prio, &bprio);
rt_printk("%d-%d|", k, prio);
}
rt_get_priorities(task[tsknr], &prio, &bprio);
rt_printk("%d-%d\n\n", tsknr, prio);
return NULL;
}
int
main(int argc, char **argv)
{
int n, i, size, prflag;
int pos = 3;
int maxfd;
int rt_sockfd,recv_ping_sockfd;
int send_mulcst_fd, recv_mulcst_fd;
const int on = 1;
char buff_recv[BUFFSIZE];
char tour_array[TOURNUM][IPLEN];
char *ptr;
fd_set rset;
struct timeval tval, tval1, tval2, tval3, tval4;
struct sockaddr_ll saddrll;
Signal(SIGALRM, sig_alrm);
//Signal(SIGCHLD, sig_chld);
uname(&myname);
if (argc == 1){
fputs("This is NOT source node\n", stdout);
//_is_src_node = 0;
source_flag = 0;
}else{
fputs("I'm source node, start to send tour infomation \n", stdout);
//_is_src_node = 1;
source_flag = 1;
}
//if (uname(&myname) < 0)
//err_sys("uname error");
for ( hwa = Get_hw_addrs(); hwa != NULL; hwa = hwa->hwa_next) {
if(strcmp(hwa->if_name,"eth0")==0){
/* in eth0 we create pfsocket and bind it to hw addr, this pf socket is for sned ping info */
//pf_sockfd = socket(PF_PACKET, SOCK_RAW,htons(ETH_P_IP));
send_ping_pf_sockfd = socket(PF_PACKET, SOCK_RAW,htons(ETH_P_IP));
//send_ping_pf_sockfd use to send ping to source node
saddrll.sll_family = PF_PACKET;
saddrll.sll_ifindex = hwa->if_index;
saddrll.sll_protocol = htons(ETH_P_IP);
bind(send_ping_pf_sockfd, (struct sockaddr *) &saddrll, sizeof(saddrll));
printf("%s :%s", hwa->if_name, ((hwa->ip_alias) == IP_ALIAS) ? " (alias)\n" : "\n");
if ( (sa = hwa->ip_addr) != NULL)
printf("IP addr = %s\n", Sock_ntop_host(sa, sizeof(*sa)));
prflag = 0;
i = 0;
do {
if (hwa->if_haddr[i] != '\0') {
prflag = 1;
break;
}
} while (++i < IF_HADDR);
if (prflag) {
printf(" HW addr = ");
ptr = hwa->if_haddr;
i = IF_HADDR;
do {
printf("%.2x%s", *ptr++ & 0xff, (i == 1) ? " " : ":");
} while (--i > 0);
}
printf("\n Interface Index = %d\n\n", hwa->if_index);
break;
}
}
/* creat two raw sockets for route travesal and receive ping*/
rt_sockfd = Socket(AF_INET, SOCK_RAW, 254);
setsockopt(rt_sockfd, IPPROTO_IP, IP_HDRINCL, &on, sizeof(on));
recv_ping_sockfd = Socket(AF_INET, SOCK_RAW, IPPROTO_ICMP);
setuid(getuid()); /* don't need special permissions any more */
size = 60 * 1024; /* OK if setsockopt fails */
setsockopt (recv_ping_sockfd, SOL_SOCKET, SO_RCVBUF, &size, sizeof (size));
if (source_flag == 1)
{//this node is source
struct icmp *icmp;
struct ip* ip;
int node_num;
node_num = argc + 3;
strcpy(tour_array[0], Sock_ntop_host(sa, sizeof(*sa)));//first one is source code
sprintf(tour_array[1],"%d",argc - 1);
sprintf(tour_array[2],"%d",node_num);
sprintf(tour_array[3],"%d",4);
for (i = 4; i < node_num; i++)
strcpy(tour_array[i], getipbyvm(argv[i-3]));
//////////////////////////before send we let the source node join the multicast
send_mulcst_fd = Udp_client(MC_ADDR_LIN, MC_PORT_LIN, (void **) &sasend, &salen);
recv_mulcst_fd = Socket(AF_INET, SOCK_DGRAM, 0);
Setsockopt(recv_mulcst_fd, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on));
sarecv = Malloc(salen);
memcpy(sarecv, sasend, salen);
Bind(recv_mulcst_fd, sarecv, salen);
Mcast_join(recv_mulcst_fd, sasend, salen, NULL, 0);
Mcast_set_loop(send_mulcst_fd, 0);
/////////////////////////////////////////////// this is the send tour part
rt_send(rt_sockfd, tour_array);
for(;;){
if(first_mulcst_flag == 1){
printf("wait for first multicast info\n");
recv_all(recv_mulcst_fd, salen);
first_mulcst_flag = 0;
char buf[MAXLINE];
//sleep(1);
snprintf(buf, sizeof(buf), "<<<<< Node: %s I am a member of the group.>>>>>\n", myname.nodename);
send_all(send_mulcst_fd, sasend, salen, buf);
}else{
for(;;){
recv_all(recv_mulcst_fd, salen);
printf("Waiting for 5 seconds and exit\n");
}
}
}
}else{//not source node
pthread_t tid, tid2;
char source_name[IPLEN];
for( ;; )
{
FD_ZERO(&rset);
FD_SET(rt_sockfd, &rset);
maxfd = rt_sockfd;
if(rt_recved_flag == 1){
FD_SET(recv_ping_sockfd, &rset);
maxfd = max(recv_ping_sockfd, maxfd);
}
if (ns_first_flag == 0)
{
FD_SET(recv_mulcst_fd,&rset);
//maxfd = (maxfd > recv_mulcst_fd) ? maxfd : recv_mulcst_fd;
maxfd = max(maxfd, recv_mulcst_fd);
}
//printf("before select\n");
select(maxfd + 1, &rset, NULL, NULL, NULL);
if (FD_ISSET(rt_sockfd, &rset))
{
printf("receive route travelsal paket\n");
n = rt_recv(rt_sockfd, tour_array);
memcpy(dest_ip_addr, tour_array[0], IPLEN);
if (n < 0) {
if (errno == EINTR)
continue;
else
err_sys("receive tour packet error");
}
get_vmname(tour_array[0], source_name);
if (ns_first_flag == 1)
{
ns_first_flag = 0;
rt_recved_flag = 1;
// join the multicast first
send_mulcst_fd = Udp_client(MC_ADDR_LIN, MC_PORT_LIN, (void **) &sasend, &salen);
recv_mulcst_fd = Socket(AF_INET, SOCK_DGRAM, 0);
Setsockopt(recv_mulcst_fd, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on));
sarecv = Malloc(salen);
memcpy(sarecv, sasend, salen);
Bind(recv_mulcst_fd, sarecv, salen);
Mcast_join(recv_mulcst_fd, sasend, salen, NULL, 0);
Mcast_set_loop(send_mulcst_fd, 0);
//create a thread for ping
Pthread_create(&tid, NULL, &ping, NULL);
}
if(last_node_flag == 0){
rt_send(rt_sockfd, tour_array);
}else{
//create a thread to handle last operations
Pthread_create(&tid2, NULL, &ls_send_mul, &send_mulcst_fd);
}
}
if (FD_ISSET(recv_mulcst_fd, &rset))
{//recv multicast info
if (first_mulcst_flag == 1 )
{
first_mulcst_flag = 0;
ping_over_flag = 1;//
//printf("ping_over_flag is %d\n", ping_over_flag);
recv_all(recv_mulcst_fd, salen);
char buf[MAXLINE];
snprintf(buf, sizeof(buf), "<<<<< Node: %s I am a member of the group.>>>>>\n", myname.nodename);
send_all(send_mulcst_fd, sasend, salen, buf);
//printf("gonna go to alarm with pof changed\n");
alarm(0);
}else{
for(;;){
recv_all(recv_mulcst_fd, salen);
}
printf("Waiting for 5 seconds and exit\n");
}
}
if (FD_ISSET(recv_ping_sockfd, &rset))
{//recv ping reply
//printf("received ping reply\n");
recvfrom(recv_ping_sockfd, buff_recv, MAXLINE, 0, NULL, NULL);
Gettimeofday (&tval, NULL);
proc_v4 (buff_recv, n, &tval);
if (ping_over_flag == 1)
alarm(0);
}
}
}
}
int main(int argc, char* argv[])
{
unsigned long mtsk_name = nam2num("MTSK");
unsigned long btsk_name = nam2num("BTSK");
unsigned long sem_name = nam2num("SEM");
unsigned long smbx_name = nam2num("SMBX");
unsigned long rmbx_name = nam2num("RMBX");
unsigned long msg;
long long mbx_msg;
long long llmsg = 0xaaaaaaaaaaaaaaaaLL;
RT_TASK *mtsk, *rcvd_from;
SEM *sem;
MBX *smbx, *rmbx;
int pid, count;
if (!(mtsk = rt_task_init_schmod(mtsk_name, 0, 0, 0, SCHED_FIFO, 0x1))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
printf("MASTER TASK INIT: name = %lx, address = %p.\n", mtsk_name, mtsk);
printf("MASTER TASK STARTS THE ONESHOT TIMER\n");
rt_set_oneshot_mode();
start_rt_timer(nano2count(10000000));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sleep(1000000);
printf("MASTER TASK MAKES ITSELF PERIODIC WITH A PERIOD OF 1 ms\n");
rt_task_make_periodic(mtsk, rt_get_time(), nano2count(PERIOD));
rt_sleep(nano2count(1000000000));
count = PERIODIC_LOOPS;
printf("MASTER TASK LOOPS ON WAIT_PERIOD FOR %d PERIODS\n", count);
while(count--) {
printf("PERIOD %d\n", count);
rt_task_wait_period();
}
count = SLEEP_LOOPS;
printf("MASTER TASK LOOPS ON SLEEP 0.1 s FOR %d PERIODS\n", count);
while(count--) {
printf("SLEEPING %d\n", count);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK YIELDS ITSELF\n");
rt_task_yield();
printf("MASTER TASK CREATES BUDDY TASK\n");
pid = fork();
if (!pid) {
execl("./slave", "./slave", NULL);
}
printf("MASTER TASK SUSPENDS ITSELF, TO BE RESUMED BY BUDDY TASK\n");
rt_task_suspend(mtsk);
printf("MASTER TASK RESUMED BY BUDDY TASK\n");
if (!(sem = rt_sem_init(sem_name, 0))) {
printf("CANNOT CREATE SEMAPHORE %lx\n", sem_name);
exit(1);
}
printf("MASTER TASK CREATES SEM: name = %lx, address = %p.\n", sem_name, sem);
printf("MASTER TASK WAIT_IF ON SEM\n");
rt_sem_wait_if(sem);
printf("MASTER STEP BLOCKS WAITING ON SEM\n");
rt_sem_wait(sem);
printf("MASTER TASK SIGNALLED BY BUDDY TASK WAKES UP AND BLOCKS WAIT TIMED 1 s ON SEM\n");
rt_sem_wait_timed(sem, nano2count(1000000000));
printf("MASTER TASK DELETES SEM\n");
rt_sem_delete(sem);
printf("MASTER TASK BLOCKS RECEIVING FROM ANY\n");
rcvd_from = rt_receive(0, (void *)&msg);
printf("MASTER TASK RECEIVED MESSAGE %lx FROM BUDDY TASK\n", msg);
printf("MASTER TASK RPCS TO BUDDY TASK THE MESSAGE %lx\n", 0xabcdefL);
rcvd_from = rt_rpc(rcvd_from, 0xabcdef, (void *)&msg);
printf("MASTER TASK RECEIVED THE MESSAGE %lx RETURNED BY BUDDY TASK\n", msg);
//exit(1);
if (!(smbx = rt_mbx_init(smbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", smbx_name);
exit(1);
}
if (!(rmbx = rt_mbx_init(rmbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", rmbx_name);
exit(1);
}
printf("MASTER TASK CREATED TWO MAILBOXES %p %p %p %p \n", smbx, rmbx, &mtsk_name, &msg);
count = MBX_LOOPS;
while(count--) {
rt_mbx_send(smbx, &llmsg, sizeof(llmsg));
printf("%d MASTER TASK SENDS THE MESSAGE %llx MBX\n", count, llmsg);
mbx_msg = 0;
rt_mbx_receive_timed(rmbx, &mbx_msg, sizeof(mbx_msg), nano2count(MSG_DELAY));
printf("%d MASTER TASK RECEIVED THE MESSAGE %llx FROM MBX\n", count, mbx_msg);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK SENDS THE MESSAGE %lx TO BUDDY TO ALLOW ITS END\n", 0xeeeeeeeeL);
rt_send(rcvd_from, 0xeeeeeeee);
printf("MASTER TASK WAITS FOR BUDDY TASK END\n");
while (rt_get_adr(btsk_name)) {
rt_sleep(nano2count(1000000000));
}
printf("MASTER TASK STOPS THE PERIODIC TIMER\n");
stop_rt_timer();
printf("MASTER TASK DELETES MAILBOX %p\n", smbx);
rt_mbx_delete(smbx);
printf("MASTER TASK DELETES MAILBOX %p\n", rmbx);
rt_mbx_delete(rmbx);
printf("MASTER TASK DELETES ITSELF\n");
rt_task_delete(mtsk);
printf("END MASTER TASK\n");
return 0;
}
static int modify_vnet_link(int cmd, const char* if_name, const char* peer_name, int ns_pid)
{
int llen;
int fd = 0;
unsigned int seq;
struct sockaddr_nl loc_addr;
rt_link_request_t r;
int ret = 0;
printf("modifyLink: begin. \n");
memset(&r, 0, sizeof(r));
r.ifi.ifi_family = PF_UNSPEC;
r.ifi.ifi_index = 0;
r.ifi.ifi_flags = 0;
if (cmd == RTM_NEWLINK)
{
rt_link_init(&r.n, RTM_NEWLINK, NLM_F_REQUEST | NLM_F_REPLACE | NLM_F_CREATE);
/*unsigned char mac[6] = { 0xa, 1, 2, 3, 4, 5};
rt_addAttr_data(&r.n, IFA_ADDRESS, mac, 6);*/
llen = strlen(if_name) + 1;
rt_addAttr_data(&r.n, IFLA_IFNAME, if_name, llen);
char* if_kind = "veth";
struct rtattr *rta_linkinfo = rt_addAttr_hdr(&r.n, IFLA_LINKINFO);
rt_addAttr_data(&r.n, IFLA_INFO_KIND, if_kind, strlen(if_kind) + 1);
struct rtattr *rta_datainfo = rt_addAttr_hdr(&r.n, IFLA_INFO_DATA);
struct ifinfomsg ifi_p;
ifi_p.ifi_family = PF_UNSPEC;
ifi_p.ifi_index = 0;
ifi_p.ifi_flags = 0;
struct rtattr *rta_peerinfo = rt_addAttr_data(&r.n, VETH_INFO_PEER, (void*)&ifi_p, sizeof(struct ifinfomsg));
llen = strlen(peer_name) + 1;
rt_addAttr_data(&r.n, IFLA_IFNAME, peer_name, llen);
if (ns_pid > 0)
{
unsigned int pid = ns_pid;
rt_addAttr_data(&r.n, IFLA_NET_NS_PID, (void*)&pid, sizeof(unsigned int));
}
/*unsigned char mac2[6] = { 0xa, 1, 2, 3, 4, 6};
rt_addAttr_data(&r.n, IFA_ADDRESS, mac2, 6);*/
rt_compAttr_hdr(&r.n, rta_peerinfo);
rt_compAttr_hdr(&r.n, rta_datainfo);
rt_compAttr_hdr(&r.n, rta_linkinfo);
}
else if (cmd == RTM_DELLINK)
{
rt_link_init(&r.n, RTM_DELLINK, NLM_F_REQUEST);
llen = strlen(if_name) + 1;
rt_addAttr_data(&r.n, IFLA_IFNAME, if_name, llen);
}
/*--------*/
/* Now open a netlink socket */
if ((fd = rt_open(&loc_addr)) < 0)
{
ret = -1;
goto end;
}
seq = time(NULL);
/* Send the attribute message and wait for ACK */
if (rt_send(fd, &seq, &r.n, &loc_addr) < 0)
{
ret = -1;
goto end;
}
/*---------*/
printf("modifyLink: happy end. \n");
end:
if (fd > 0)
{
close(fd);
}
return ret;
}
static int rt_Main(int priority)
{
SEM *hard_timers_cnt;
char name[7];
RTIME rt_BaseTaskPeriod;
struct timespec err_timeout;
int i;
rt_allow_nonroot_hrt();
for (i = 0; i < MAX_NTARGETS; i++) {
sprintf(name,"MNT%d",i);
if (!rt_get_adr(nam2num(name))) break;
}
if (!(rt_MainTask = rt_task_init_schmod(nam2num(name), rt_MainTaskPriority, 0, 0, SCHED_RR, 0xFF))) {
fprintf(stderr,"Cannot init rt_MainTask.\n");
return 1;
}
sem_init(&err_sem, 0, 0);
printf("TARGET STARTS.\n");
pthread_create(&rt_HostInterfaceThread, NULL, rt_HostInterface, NULL);
err_timeout.tv_sec = (long int)(time(NULL)) + 1;
err_timeout.tv_nsec = 0;
if ((sem_timedwait(&err_sem, &err_timeout)) != 0) {
fprintf(stderr, "Target is terminated.\n");
goto finish;
}
pthread_create(&rt_BaseRateThread, NULL, rt_BaseRate, &priority);
err_timeout.tv_sec = (long int)(time(NULL)) + 1;
err_timeout.tv_nsec = 0;
if ((sem_timedwait(&err_sem, &err_timeout)) != 0) {
endInterface = 1;
rt_send(rt_HostInterfaceTask, 0);
pthread_join(rt_HostInterfaceThread, NULL);
fprintf(stderr, "Target is terminated.\n");
goto finish;
}
rt_BaseTaskPeriod = (RTIME) (1e9*get_tsamp());
if (InternTimer) {
WaitTimingEvent = (void *)rt_task_wait_period;
if (!(hard_timers_cnt = rt_get_adr(nam2num("HTMRCN")))) {
if (!ClockTick) {
rt_set_oneshot_mode();
start_rt_timer(0);
rt_BaseRateTick = nano2count(rt_BaseTaskPeriod);
}
else {
rt_set_periodic_mode();
rt_BaseRateTick = start_rt_timer(nano2count(rt_BaseTaskPeriod));
}
hard_timers_cnt = rt_sem_init(nam2num("HTMRCN"), 0);
}
else {
rt_BaseRateTick = nano2count(rt_BaseTaskPeriod);
rt_sem_signal(hard_timers_cnt);
}
}
else {
WaitTimingEvent = (void *)DummyWait;
SendTimingEvent = (void *)DummySend;
}
if (verbose) {
printf("Model : %s .\n", modelname);
printf("Executes on CPU map : %x.\n", CpuMap);
printf("Sampling time : %e (s).\n", get_tsamp());
}
{
int msg;
rt_receive(0, &msg);
}
if (WaitToStart) {
if (verbose) {
printf("Target is waiting to start ... ");
fflush(stdout);
}
rt_task_suspend(rt_MainTask);
}
if (verbose) {
printf("Target is running.\n");
}
rt_return(rt_BaseRateTask, 0);
isRunning = 1;
while (!endex && (!FinalTime || SIM_TIME < FinalTime)) {
msleep(POLL_PERIOD);
}
endBaseRate = 1;
if (!InternTimer) {
SendTimingEvent(TimingEventArg);
}
pthread_join(rt_BaseRateThread, NULL);
isRunning = 0;
endInterface = 1;
rt_send(rt_HostInterfaceTask, 0);
if (verbose) {
printf("Target has been stopped.\n");
}
pthread_join(rt_HostInterfaceThread, NULL);
if (InternTimer) {
if (!rt_sem_wait_if(hard_timers_cnt)) {
rt_sem_delete(hard_timers_cnt);
}
}
finish:
for (i=0 ; i<NSCOPE ; i++)
RT_named_mbx_delete(0, 0, rtaiScope[i].mbx);
for (i=0 ; i<NLOGS ; i++)
RT_named_mbx_delete(0, 0, rtaiLogData[i].mbx);
for (i=0 ; i<NLEDS ; i++)
RT_named_mbx_delete(0, 0, rtaiLed[i].mbx);
for (i=0 ; i<NMETERS ; i++)
RT_named_mbx_delete(0, 0, rtaiMeter[i].mbx);
for ( i=0 ; i<MAX_COMEDI_DEVICES ; i++ ){
if ( ComediDev[i] != NULL ){
comedi_close(ComediDev[i]);
}
}
for ( i=0 ; i<N_DATAIN ; i++){
free( ComediDataIn[i].comdev );
}
for ( i=0 ; i<N_DATAOUT ; i++){
free( ComediDataOut[i].comdev );
}
for ( i=0 ; i<N_DIOIN ; i++){
free( ComediDioIn[i].comdev );
}
for ( i=0 ; i<N_DIOOUT ; i++){
free( ComediDioOut[i].comdev );
}
SA_Output_To_File();
rt_task_delete(rt_MainTask);
printf("TARGET ENDS.\n");
return 0;
}
int main(void)
{
RTIME tsr, tss, tsm, trpc;
RT_TASK *mainbuddy;
int i, k, s;
unsigned long msg;
printf("\n\nWait for it ...\n");
if (!(mainbuddy = rt_thread_init(nam2num("MASTER"), 1000, 0, SCHED_FIFO, 0x1))) {
printf("CANNOT INIT TASK %lu\n", nam2num("MASTER"));
exit(1);
}
sem = rt_sem_init(nam2num("SEMAPH"), 1);
change = 0;
for (i = 0; i < NR_RT_TASKS; i++) {
indx[i] = i;
if (!(thread[i] = rt_thread_create(thread_fun, indx + i, 0))) {
printf("ERROR IN CREATING THREAD %d\n", indx[i]);
exit(1);
}
}
do {
msleep(50);
s = 0;
for (i = 0; i < NR_RT_TASKS; i++) {
s += hrt[i];
}
} while (s != NR_RT_TASKS);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
tsr = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_task_resume(mytask[k]);
}
}
tsr = rt_get_cpu_time_ns() - tsr;
change = 1;
for (k = 0; k < NR_RT_TASKS; k++) {
rt_task_resume(mytask[k]);
}
tss = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_sem_signal(sem);
}
}
tss = rt_get_cpu_time_ns() - tss;
change = 2;
for (k = 0; k < NR_RT_TASKS; k++) {
rt_sem_signal(sem);
}
tsm = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_send(mytask[k], 0);
}
}
tsm = rt_get_cpu_time_ns() - tsm;
change = 3;
for (k = 0; k < NR_RT_TASKS; k++) {
rt_send(mytask[k], 0);
}
trpc = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_rpc(mytask[k], 0, &msg);
}
}
trpc = rt_get_cpu_time_ns() - trpc;
rt_make_soft_real_time();
printf("\n\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), SUSP/RES SWITCHES %d, ", (int)(tsr/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n", (int)(tsr/(2*NR_RT_TASKS*LOOPS)));
printf("\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), SEM SIG/WAIT SWITCHES %d, ", (int)(tss/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n", (int)(tss/(2*NR_RT_TASKS*LOOPS)));
printf("\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), SEND/RCV SWITCHES %d, ", (int)(tsm/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n", (int)(tsm/(2*NR_RT_TASKS*LOOPS)));
printf("\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), RPC/RCV-RET SWITCHES %d, ", (int)(tsm/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n\n", (int)(trpc/(2*NR_RT_TASKS*LOOPS)));
fflush(stdout);
end = 1;
for (i = 0; i < NR_RT_TASKS; i++) {
rt_rpc(mytask[i], 0, &msg);
}
do {
msleep(50);
s = 0;
for (i = 0; i < NR_RT_TASKS; i++) {
s += hrt[i];
}
} while (s);
rt_sem_delete(sem);
rt_task_delete(mainbuddy);
for (i = 0; i < NR_RT_TASKS; i++) {
rt_thread_join(thread[i]);
}
return 0;
}