int main(int argc, char *argv[])
{
unsigned int player, msg, spknode, spkport, i;
RT_TASK *plrtsk, *spktsk;
struct sockaddr_in addr;
MBX *mbx;
char data[BUFSIZE];
thread = rt_thread_create(endme, NULL, 2000);
if ((player = open("../../../share/linux.au", O_RDONLY)) < 0) {
printf("ERROR OPENING SOUND FILE (linux.au)\n");
exit(1);
}
if (!(plrtsk = rt_task_init_schmod(nam2num("PLRTSK"), 2, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT PLAYER TASK\n");
exit(1);
}
spknode = 0;
if (argc == 2 && strstr(argv[1], "SpkNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
spknode = addr.sin_addr.s_addr;
}
if (!spknode) {
inet_aton("127.0.0.1", &addr.sin_addr);
spknode = addr.sin_addr.s_addr;
}
while ((spkport = rt_request_port(spknode)) <= 0 && spkport != -EINVAL);
spktsk = RT_get_adr(spknode, spkport, "SPKTSK");
mbx = RT_get_adr(spknode, spkport, "SNDMBX");
for (i = 0; i < 100; i++) {
RT_rpc(spknode, spkport, spktsk, msg, &msg);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nPLAYER TASK RUNNING\n\n(TYPE ENTER TO END EVERYTHING)\n");
while (!end) {
lseek(player, 0, SEEK_SET);
while(!end && (msg = read(player, data, BUFSIZE)) > 0) {
RT_mbx_send(spknode, spkport, mbx, data, msg);
}
}
RT_rpc(spknode, spkport, spktsk, msg, &msg);
rt_release_port(spknode, spkport);
rt_task_delete(plrtsk);
close(player);
printf("\nPLAYER TASK STOPS\n");
return 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;
}
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;
}
int main(int argc, char *argv[])
{
MBX *mbx;
SEM *sem;
RT_TASK *task;
RTIME t0, t;
int i, count, jit, maxj, test_time, hdlnode, hdlport;
struct sockaddr_in addr;
unsigned long run;
char c;
if (!(task = rt_task_init_schmod(nam2num("PRCTSK"), 1, 0, 0, SCHED_FIFO, TASK_CPU))) {
printf("CANNOT INIT PROCESS TASK\n");
exit(1);
}
hdlnode = 0;
if (argc == 2 && strstr(argv[1], "HdlNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
hdlnode = addr.sin_addr.s_addr;
}
if (!hdlnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
hdlnode = addr.sin_addr.s_addr;
}
while ((hdlport = rt_request_port(hdlnode)) <= 0 && hdlport != -EINVAL);
mbx = RT_get_adr(hdlnode, hdlport, "HDLMBX");
sem = rt_sem_init(nam2num("PRCSEM"), 0);
printf("USE: SEM SEND/WAIT (s), TASK RESM/SUSP (r), INTERTASK MSG (m): [s|r|m]? ");
scanf("%c", &c);
switch (c) {
case 'r': printf("TESTING TASK SUSPEND/RESUME TIME (s): ");
run = 2;
break;
case 'm': printf("TESTING INTERTASK SEND/RECEIVE TIME (s): ");
run = 3;
break;
default: printf("TESTING SEMAPHORE WAIT/SEND TIME (s): ");
run = 1;
break;
}
scanf("%d", &test_time);
printf("... WAIT FOR %d SECONDS (RUNNING AT %d hz).\n", test_time, 1000000000/PERIOD);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
RT_mbx_send(hdlnode, hdlport, mbx, &task, sizeof(task));
RT_mbx_send(hdlnode, hdlport, mbx, &sem, sizeof(sem));
RT_mbx_send(hdlnode, hdlport, mbx, &run, sizeof(run));
count = maxj = 0;
t0 = rt_get_cpu_time_ns();
while(++count <= test_time*(1000000000/(PERIOD*100))) {
for (i = 0; i < 100; i++) {
t = rt_get_cpu_time_ns();
if ((jit = t - t0 - PERIOD) < 0) {
jit = -jit;
}
if (count > 1 && jit > maxj) {
maxj = jit;
}
t0 = t;
switch (run) {
case 1: rt_sem_wait(sem);
break;
case 2: rt_task_suspend(task);
break;
case 3: rt_receive(0, &run);
break;
}
}
}
run = 0;
RT_mbx_send(hdlnode, hdlport, mbx, &run, sizeof(run));
rt_make_soft_real_time();
rt_release_port(hdlnode, hdlport);
rt_task_delete(task);
printf("***** MAX JITTER %3d (us) *****\n", (maxj + 499)/1000);
exit(0);
}
