int main(int argc, char *argv[])
{
unsigned long sndnode;
long sndport, i, r;
RT_TASK *rcvtsk, *sndtsk;
struct sockaddr_in addr;
static MBX *sndmbx;
SERVER = atoi(argv[1]);
if (!(rcvtsk = rt_task_init_schmod(nam2num("RCVTSK"), 2, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT RECEIVER TASK\n");
exit(1);
}
mbx = rt_mbx_init(nam2num("MBX"), 100);
athread = rt_thread_create(async_fun, NULL, 10000);
sndnode = 0;
if (argc == 3 && strstr(argv[2], "SndNode=")) {
inet_aton(argv[2] + 8, &addr.sin_addr);
sndnode = addr.sin_addr.s_addr;
}
if (!sndnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
sndnode = addr.sin_addr.s_addr;
}
rt_set_oneshot_mode();
start_rt_timer(0);
while ((sndport = rt_request_port_mbx(sndnode, mbx)) <= 0 && sndport != -EINVAL);
while (!(sndmbx = RT_get_adr(sndnode, sndport, "SNDMBX"))) {
rt_sleep(nano2count(100000000));
}
sndtsk = RT_get_adr(sndnode, sndport, "SNDTSK");
printf("\nRECEIVER TASK RUNNING\n");
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
while (!end) {
r = RT_mbx_receive(sndnode, -sndport, sndmbx, &i, sizeof(long));
rt_printk("RECEIVE %ld %ld\n", r, i);
if (SERVER) {
rt_sleep(nano2count(100000000));
} else {
while (!end && rt_waiting_return(sndnode, sndport)) {
rt_sleep(nano2count(1000000));
}
if (!end) {
unsigned long long retval;
long i1, i2;
int l1, l2;
if (rt_sync_net_rpc(sndnode, -sndport)) {
l1 = l2 = sizeof(long);
rt_get_net_rpc_ret(mbx, &retval, &i1, &l1, &i2, &l2, 0LL, MBX_RECEIVE);
rt_printk("RECEIVER ASYNC MSG: RETVAL = %d, MSG = %ld, LEN = %d.\n", (int)retval, i1, l1);
if (i1 < 0) {
end = 1;
break;
}
}
}
}
}
rt_mbx_delete(mbx);
rt_release_port(sndnode, sndport);
rt_make_soft_real_time();
rt_thread_join(athread);
rt_return(rt_receive(0, &i), i);
rt_task_delete(rcvtsk);
stop_rt_timer();
printf("\nRECEIVER TASK STOPS\n");
return 0;
}
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 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 *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;
}
