int main(void)
{
int pid;
char ch;
char k = 'k';
RT_TASK *mytask;
MBX *Keyboard;
menu();
pid = fork();
if (!pid) {
execl("./screen", "./screen", NULL);
}
sleep(1);
if (!(mytask = rt_task_init(nam2num("KBRTSK"), 10, 0, 0))) {
printf("CANNOT INIT KEYBOARD TASK\n");
exit(1);
}
if (!(Keyboard = rt_get_adr(nam2num("KEYBRD")))) {
printf("CANNOT FIND KEYBOARD MAILBOX\n");
exit(1);
}
if (rt_mbx_send(Keyboard, &k, 1) > 0 ) {
fprintf(stderr, "Can't send initial command to RT-task\n");
exit(1);
}
do {
ch = get_key();
if (ch == 'p' || ch == 'P') {
menu();
}
if (ch != 'f' && rt_mbx_send_if(Keyboard, &ch, 1) > 0 ) {
fprintf(stderr, "Can't send command to RT-task\n");
}
} while (ch != 'f');
ch = 'r';
rt_mbx_send(Keyboard, &ch, 1);
ch = 'c';
rt_mbx_send(Keyboard, &ch, 1);
ch = 'f';
rt_mbx_send(Keyboard, &ch, 1);
rt_task_resume(rt_get_adr(nam2num("MASTER")));
while (rt_get_adr(nam2num("MASTER"))) {
rt_sleep(nano2count(1000000));
}
kill(pid, SIGINT);
rt_task_delete(mytask);
stop_rt_timer();
exit(0);
}
int main(int argc, char *argv[])
{
unsigned long rcvnode;
RT_TASK *sndtsk, *rcvtsk;
MBX *mbx;
long rcvport, i;
struct sockaddr_in addr;
thread = rt_thread_create(endme, NULL, 2000);
if (!(sndtsk = rt_task_init_schmod(nam2num("SNDTSK"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SENDER TASK\n");
exit(1);
}
rcvnode = 0;
if (argc == 2 && strstr(argv[1], "RcvNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
rcvnode = addr.sin_addr.s_addr;
}
if (!rcvnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
rcvnode = addr.sin_addr.s_addr;
}
mbx = rt_mbx_init(nam2num("SNDMBX"), 500);
while ((rcvport = rt_request_port(rcvnode)) <= 0 && rcvport != -EINVAL);
printf("\nSENDER TASK RUNNING\n");
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
for (i = 0; i < MAXLOOPS && !end; i++) {
rt_mbx_send(mbx, &i, sizeof(long));
rt_printk("SENT %ld\n", i);
RT_sleep(rcvnode, rcvport, 200000000);
}
i = -1;
rt_mbx_send(mbx, &i, sizeof(long));
rt_make_soft_real_time();
while (!(rcvtsk = RT_get_adr(rcvnode, rcvport, "RCVTSK"))) {
RT_sleep(rcvnode, rcvport, 100000000);
}
RT_rpc(rcvnode, rcvport, rcvtsk, i, &i);
rt_release_port(rcvnode, rcvport);
rt_mbx_delete(mbx);
rt_task_delete(sndtsk);
printf("\nSENDER TASK STOPS\n");
return 0;
}
static void bfun(long t)
{
unsigned long long msg;
unsigned long long name = 0xccccccccccccccccLL;
while (1) {
cpu_used[hard_cpu_id()]++;
msg = 0LL;
bstat = 'r';
rt_mbx_receive(&smbx, &msg, sizeof(msg));
if (msg == 0x1122334455667788LL) {
t = 0;
} else {
if (msg == 0x99aabbccddeeff00LL) {
t = 1;
} else {
rt_printk("SERVER RECEIVED AN UNKNOWN MSG: %x%x, STAT: %c %c %c.\n", ((int *)&msg)[1], ((int *)&msg)[0], mstat[0], mstat[1], bstat);
t = 0;
goto prem;
}
}
bstat = '0' + t;
rt_mbx_send(&rmbx[t], &name, sizeof(name));
}
prem:
premature = PREMATURE;
rt_printk("SERVER TASK ENDS PREMATURELY.\n");
}
/*
* initialization task
*/
static void start_task_code(int notused)
{
int i;
char buf[9];
buf[8] = 0;
/* create the sync semaphore */
rt_sem_init(&sync_sem, 0);
/* create the priority-test semaphore */
rt_sem_init(&prio_sem, 0);
/* pass the semaphore to the first task */
rt_sem_signal(&sems[0]);
/* wait for each task to send the sync semaphore */
for (i = 0; i < NUM_TASKS; ++i) {
rt_sem_wait(&sync_sem);
}
rt_printk(sync_str);
/* post the priority-test semaphore -- the tasks should then run */
/* in priority order */
for (i = 0; i < NUM_TASKS; ++i) {
rt_sem_signal(&prio_sem);
}
rt_printk("\n");
for (i = 0; i < NUM_TASKS; ++i) {
rt_sem_wait(&sync_sem);
}
rt_printk(sync_str);
/* now, test message queues */
TAKE_PRINT;
rt_printk("testing message queues\n");
GIVE_PRINT;
for (i = 0; i < NUM_TASKS; ++i) {
if (rt_mbx_send(&mbx_in, strs[i], 8)) {
rt_printk("rt_mbx_send() failed\n");
}
}
for (i = 0; i < NUM_TASKS; ++i) {
rt_mbx_receive(&mbx_out, buf, 8);
TAKE_PRINT;
rt_printk("\nreceived from mbx_out: %s", buf);
GIVE_PRINT;
}
rt_printk("\n");
for (i = 0; i < NUM_TASKS; ++i) {
rt_sem_signal(&sync_sem);
}
TAKE_PRINT;
rt_printk("\ninit task complete\n");
GIVE_PRINT;
/* nothing more for this task to do */
}
int main(void)
{
RT_TASK *mytask;
MBX *Keyboard, *Screen;
unsigned int i;
char d = 'd';
char chain[12];
char displine[40] = "CLOCK-> 00:00:00 CHRONO-> 00:00:00";
signal(SIGINT, endme);
if (!(mytask = rt_task_init_schmod(nam2num("SCRTSK"), 20, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SCREEN TASK\n");
exit(1);
}
if (!(Keyboard = rt_get_adr(nam2num("KEYBRD")))) {
printf("CANNOT FIND KEYBOARD MAILBOX\n");
exit(1);
}
if (rt_mbx_send(Keyboard, &d, 1) > 0 ) {
fprintf(stderr, "Can't send initial command to RT-task\n");
exit(1);
}
if (!(Screen = rt_get_adr(nam2num("SCREEN")))) {
printf("CANNOT FIND SCREEN MAILBOX\n");
exit(1);
}
sleep(1);
printf("%s\n", displine);
while(1) {
if (rt_mbx_receive(Screen, chain, 12)) break;
if (chain[0] == 't') {
for (i = 0; i < 11; i++) {
displine[i+27] = chain[i+1];
}
} else if (chain[0] == 'h') {
for (i = 0; i < 8; i++) {
displine[i+8] = chain[i+1];
}
}
printf("%s\n", displine);
}
rt_task_delete(mytask);
return 0;
}
int main(void)
{
pthread_t thread;
unsigned int player, cnt;
unsigned long msg;
RT_TASK *mytask;
MBX *mbx;
char data[BUFSIZE];
signal(SIGINT, endme);
rt_allow_nonroot_hrt();
if ((player = open("../../../share/linux.au", O_RDONLY)) < 0) {
printf("ERROR OPENING SOUND FILE (linux.au)\n");
exit(1);
}
if (!(mytask = rt_task_init(nam2num("SNDMAS"), 2, 0, 0))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nINIT MASTER TASK %p\n\n(CTRL-C TO END EVERYTHING)\n", mytask);
mbx = rt_typed_named_mbx_init("SNDMBX", 2000, FIFO_Q);
rt_set_oneshot_mode();
start_rt_timer(0);
thread = rt_thread_create(intr_handler, NULL, 10000);
rt_mbx_receive(mbx, &data, 1);
while (!end) {
lseek(player, 0, SEEK_SET);
while(!end && (cnt = read(player, &data, BUFSIZE)) > 0) {
rt_mbx_send(mbx, data, cnt);
}
}
rt_rpc(rt_get_adr(nam2num("SOUND")), msg, &msg);
while (rt_get_adr(nam2num("SOUND"))) {
rt_sleep(nano2count(1000000));
}
rt_task_delete(mytask);
rt_mbx_delete(mbx);
stop_rt_timer();
close(player);
printf("\nEND MASTER TASK %p\n", mytask);
rt_thread_join(thread);
return 0;
}
static void *intr_handler(void *args)
{
RT_TASK *mytask, *master;
RTIME period;
MBX *mbx;
char data = 'G';
char temp;
unsigned int msg;
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
// rt_allow_nonroot_hrt();
ioperm(PORT_ADR, 1, 1);
if (!(mytask = rt_task_init_schmod(nam2num("SOUND"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SOUND TASK\n");
exit(1);
}
mbx = rt_get_adr(nam2num("SNDMBX"));
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nINIT SOUND TASK %p\n", mytask);
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_mbx_send(mbx, &data, 1);
rt_task_make_periodic(mytask, rt_get_time() + 100*period, period);
while(1) {
if (!rt_mbx_receive_if(mbx, &data, 1)) {
data = filter(data);
temp = inb(PORT_ADR);
temp &= 0xfd;
temp |= (data & 1) << 1;
outb(temp, PORT_ADR);
}
rt_task_wait_period();
if ((master = rt_receive_if(0, &msg))) {
rt_return(master, msg);
break;
}
}
rt_make_soft_real_time();
rt_task_delete(mytask);
printf("\nEND SOUND TASK %p\n", mytask);
return 0;
}
static void task_code(int task_no)
{
int i, ret;
char buf[9];
buf[8] = 0;
for (i = 0; i < 5; ++i) {
rt_sem_wait(&sems[task_no]);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
if (task_no == NUM_TASKS-1) {
rt_printk("\n");
}
rt_sem_signal(&sems[(task_no + 1) % NUM_TASKS]);
}
rt_sem_signal(&sync_sem);
rt_sem_wait(&prio_sem);
TAKE_PRINT;
rt_printk(strs[task_no]);
GIVE_PRINT;
rt_sleep(nano2count(1000000000LL));
rt_sem_wait_timed(&prio_sem, nano2count((task_no + 1)*1000000000LL));
TAKE_PRINT;
rt_printk("sem timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
rt_sem_signal(&sync_sem);
/* message queue stuff */
if ((ret = rt_mbx_receive(&mbx_in, buf, 8)) != 0) {
rt_printk("rt_mbx_receive() failed with %d\n", ret);
}
TAKE_PRINT;
rt_printk("\nreceived by task %d ", task_no);
rt_printk(buf);
GIVE_PRINT;
rt_mbx_send(&mbx_out, strs[task_no], 8);
/* test receive timeout */
rt_sem_wait(&sync_sem);
if (rt_mbx_receive_timed(&mbx_in, buf, 8, nano2count((task_no + 1)*1000000000LL))) {
TAKE_PRINT;
rt_printk("mbx timeout, task %d, %s\n", task_no, strs[task_no]);
GIVE_PRINT;
}
rt_printk("\ntask %d complete\n", task_no);
}
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;
}
