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
}
