int main(void)
{
unsigned long hrttsk_name = nam2num("HRTTSK");
struct sched_param mysched;
mysched.sched_priority = sched_get_priority_max(SCHED_FIFO);
if( sched_setscheduler( 0, SCHED_FIFO, &mysched ) == -1 ) {
puts("ERROR IN SETTING THE SCHEDULER");
perror("errno");
exit(0);
}
if (!(hrttsk = rt_task_init(hrttsk_name, 1, 0, 0))) {
printf("CANNOT INIT TESTB MASTER TASK\n");
exit(1);
}
rt_set_usp_flags_mask(FORCE_SOFT);
rt_task_suspend(hrttsk);
printf("BACKGROUND REAL TIME TASK IS HARD .....\n");
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
while(rt_is_hard_real_time(hrttsk)) {
rt_task_wait_period();
}
printf("..... BACKGROUND REAL TIME TASK IS SOFT NOW, YOU CAN KILL IT BY HAND\n");
rt_task_delete(hrttsk);
while(1) { sleep(3); printf("BACKGROUND PROCESS STILL RUNNING\n"); }
}
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);
}
}
}
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 main_task(void *arg)
{
RT_TASK *p;
int ret;
traceobj_enter(&trobj);
p = rt_task_self();
traceobj_assert(&trobj, p != NULL && rt_task_same(p, &t_main));
traceobj_mark(&trobj, 5);
ret = rt_alarm_start(&alrm, 200000000ULL, 200000000ULL);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 6);
ret = rt_task_suspend(&t_main);
traceobj_check(&trobj, ret, 0);
traceobj_mark(&trobj, 7);
ret = rt_alarm_delete(&alrm);
traceobj_check(&trobj, ret, 0);
traceobj_exit(&trobj);
}
int rt_task_create(RT_TASK *task, const char *name,
int stksize, int prio, int mode)
{
int ret, susp, cpus, cpu;
cpu_set_t cpuset;
susp = mode & T_SUSP;
cpus = mode & T_CPUMASK;
ret = __CURRENT(rt_task_create(task, name, stksize, prio,
mode & ~(T_SUSP|T_CPUMASK|T_LOCK)));
if (ret)
return ret;
if (cpus) {
CPU_ZERO(&cpuset);
for (cpu = 0, cpus >>= 24;
cpus && cpu < 8; cpu++, cpus >>= 1) {
if (cpus & 1)
CPU_SET(cpu, &cpuset);
}
ret = rt_task_set_affinity(task, &cpuset);
if (ret) {
rt_task_delete(task);
return ret;
}
}
return susp ? rt_task_suspend(task) : 0;
}
/***
* rt_stack_mgr_delete
*/
void rt_stack_mgr_delete (struct rtnet_mgr *mgr)
{
rt_task_suspend(&(mgr->task));
rt_task_delete(&(mgr->task));
rt_mbx_delete(&(mgr->mbx));
}
RTAI_SYSCALL_MODE int rt_signal_helper(RT_TASK *task)
{
if (task) {
rt_task_suspend(task);
return task->retval;
}
return (RT_CURRENT)->runnable_on_cpus;
}
/**
* Wait for the CAN Receiver Task end
* @param *ReceiveLoop_task CAN receiver thread
*/
void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)
{
/* normally this will fail with a non-periodic task that has already ended at this time */
if (rt_task_suspend(ReceiveLoop_task) != 0){
printk("Failed to join with Receive task\n");
}
rt_task_delete(ReceiveLoop_task);
}
void cleanup_all(void)
{
/* normally this will fail with a non-periodic task that has already ended at this time */
if (rt_task_suspend(&timerloop_task) != 0){
printk("Failed to join with Timerloop task\n");
}
rt_task_delete(&timerloop_task);
}
/* run : worker thread for ball control
along with AI generation
*/
void run(void *vsocket){
int sock = *(int *)&vsocket;
int echolen;
RTIME sleep; // as nano-seconds
if(ballThreadSpeed % 6 == 0)
ballThreadSpeed++;
sleep = (RTIME)(50000000 / (ballThreadSpeed % 6));
rt_task_suspend(NULL);
while (true){
ballmove();
echolen = strlen(ballData);
if(send(sock, ballData, echolen, 0) != echolen)
rt_err("send()");
/*2 View mode case*/
if(viewMode > 1){
if(send(viewSocket2, ballData, echolen, 0) != echolen)
rt_err("send()");
}
if(AIMode){
opponentMovement(AImoveGenerate());
echolen = strlen(moveData[1]);
if(send(sock, moveData[1], echolen, 0) != echolen)
rt_err("send()");
if(viewMode > 1){
if(send(viewSocket2, moveData[1], echolen, 0) != echolen)
rt_err("send()");
}
}
if(reset){
resetBall();
echolen = strlen(gameData);
if(send(sock, gameData, echolen, 0) != echolen)
rt_err("send()");
if(viewMode > 1){
if(send(viewSocket2, gameData, echolen, 0) != echolen)
rt_err("send()");
}
}
if(bounceplayer){
bounceDirection(player,ball.radius);
bounceplayer = false;
}
if(bounceOpponent){
bounceDirection(opponent,ball.radius);
bounceOpponent = false;
}
rt_task_sleep(sleep);
}
}
static void spv(long loops)
{
int skip, average = 0;
for (skip = 0; skip < loops; skip++) {
expected += period;
rt_task_wait_period();
average += (int)count2nano(rt_get_time() - expected);
}
rtf_put(0, &average, sizeof(average));
rt_task_suspend(0);
}
void child_func(int arg)
{
int *explode = 0;
rt_printk("Starting child task %d\n", arg);
for(counters[arg] = 0; counters[arg] < 10; counters[arg]++) {
// rt_printk("Child task %d, loop count %d\n", arg, counters[arg]);
rt_task_wait_period();
}
*explode = 0;
rt_task_suspend(rt_whoami());
}
void parent_func(int arg)
{
int i;
rt_printk("Starting parent task %d\n", arg);
for (i = 0; i < NUM_CHILDREN; i++) {
rt_task_init(&child_task[i], child_func, i, STACK_SIZE, PRIORITY, 0, 0);
rt_set_task_trap_handler(&child_task[i], 14, my_trap_handler);
rt_task_make_periodic(&child_task[i], rt_get_time() + period, period*i);
}
rt_task_suspend(rt_whoami());
}
static void SomeOtherThingsTodo( void *var1, int var2 )
{
// This function acts like a synchronous thread.
// Function rt_qReceive(...) does whatever is necessary to receive proxies,
// messages and schedule the execution of both static and dynamic QBLK's.
rt_printk( "QBLK Says: Hello World\n" );
count++;
// Reschedule for execution in one second.
if(count < 12) rt_qBlkWait( &Main, nano2count( 1000000000 ));
else rt_task_suspend(rt_whoami());
}
int rt_request_signal(long signal, void (*sighdl)(long, RT_TASK *))
{
struct sigsuprt_t arg = { NULL, RT_CURRENT, signal, sighdl };
if (signal >= 0 && sighdl && (arg.sigtask = rt_malloc(sizeof(RT_TASK)))) {
if (!rt_task_init_cpuid(arg.sigtask, signal_suprt_fun, (long)&arg, SIGNAL_TASK_STACK_SIZE, arg.task->priority, 0, NULL, arg.task->runnable_on_cpus)) {
rt_task_resume(arg.sigtask);
rt_task_suspend(arg.task);
return arg.task->retval;
}
rt_free(arg.sigtask);
}
return -EINVAL;
}
/**
* Clean all Semaphores, mutex, condition variable and main task
*/
void TimerCleanup(void)
{
rt_sem_delete(&CanFestival_mutex);
rt_mutex_delete(&condition_mutex);
rt_cond_delete(&timer_set);
rt_sem_delete(&control_task);
/* normally this will fail with a non-periodic task that has already ended at this time */
if (rt_task_suspend(&timerloop_task) != 0){
printk("Failed to join with Timerloop task\n");
}
rt_task_delete(&timerloop_task);
}
static void Task4(long t)
{
int wakedup;
rt_printk("\nTask4 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
wakedup = rt_tbx_broadcast(&bx, msg2, sizeof(msg2));
rt_printk("\nTask4=%lu, sending broadcast, wakedup=%d\n", count, wakedup);
rt_sleep(nano2count(DELAY + SHIFT));
}
rt_printk("\nTask4 suspends itself\n");
rt_task_suspend(rt_whoami());
}
INTERNAL_QUAL void rtos_task_make_periodic(RTOS_TASK* mytask, NANO_TIME nanosecs )
{
if (mytask->rtaitask == 0)
return;
if (rt_buddy() == mytask->rtaitask) {
// do not suspend/resume my own thread
// do best effort to change period.
rtos_task_set_period(mytask,nanosecs);
return;
}
// other thread is instructing us:
if (nanosecs == 0) {
// in RTAI, to drop from periodic to non periodic, do a
// suspend/resume cycle.
rt_task_suspend( mytask->rtaitask );
rt_task_resume( mytask->rtaitask );
}
else {
// same for the inverse
rt_task_suspend( mytask->rtaitask );
rt_task_make_periodic_relative_ns(mytask->rtaitask, 0, nanosecs);
}
}
static void Task1(long t)
{
int unsent;
rt_printk("\nTask1 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
unsent = rt_tbx_send(&bx, msg1, sizeof(msg1));
rt_printk("\nTask1=%lu, simple sending, unsent=%d %d\n", count, unsent, sizeof(msg1));
rt_sleep(nano2count(DELAY));
}
rt_printk("\nTask1 suspends itself\n");
rt_task_suspend(rt_whoami());
}
static void intr_handler(int t) {
while(1) {
cpu_used[hard_cpu_id()]++;
t = imuldiv(maxj, 1000000, CPU_FREQ);
rtf_put(CMDF, &t, sizeof(int));
if (Mode) {
if (rt_sem_wait(&sem) >= SEM_TIMOUT) {
return;
}
} else {
rt_task_suspend(&thread);
}
}
}
static void Task7(long t)
{
int unsent;
rt_printk("\nTask7 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
unsent = rt_tbx_urgent(&bx, msg3, sizeof(msg3));
rt_printk("\nTask7=%lu, urgent sending, unsent=%d\n", count, unsent);
rt_sleep(nano2count(3*DELAY + 2*SHIFT));
}
rt_printk("\nTask7 suspends itself\n");
cleanup = 1;
rt_task_suspend(rt_whoami());
}
int my_trap_handler(int v, int signo, struct pt_regs *r, void *t)
{
int i;
rt_printk("RT task %p generated trap %d\n", t, v);
for (i = 0; i < NUM_CHILDREN; i++) {
if (&child_task[i] == t) {
if (counters[i] != 10) rt_printk("ERROR: ");
rt_printk("Child %d, loop counter = %d\n", i, counters[i]);
break;
}
}
rt_task_suspend(t);
rt_task_delete(t);
return 1;
}
static void Task4(long t)
{
int wakedup;
MSG msg;
rt_printk("\nTask4 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
msg.progressive = count;
msg.sending_task = 4;
wakedup = rt_tbx_broadcast(&bx, (char*)&msg, sizeof(msg));
rt_printk("\nTask4=%lu, sent broadcast, wakedup=%d\n", count, wakedup);
rt_sleep(nano2count(DELAY + SHIFT));
}
rt_printk("\nTask4 suspends itself\n");
rt_task_suspend(rt_whoami());
}
static void Task1(long t)
{
int unsent;
MSG msg;
rt_printk("\nTask1 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
msg.progressive = count;
msg.sending_task = 1;
unsent = rt_tbx_send_if(&bx, (char*)&msg, sizeof(msg));
rt_printk("\nTask1=%lu, simple sending, unsent=%d\n", count, unsent);
rt_sleep(nano2count(DELAY));
}
rt_printk("\nTask1 suspends itself\n");
rt_task_suspend(rt_whoami());
}
static void Task3(long t)
{
int status;
MSG buf;
rt_printk("\nTask3 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
memset((char*)&buf, 0, sizeof(buf));
status = rt_tbx_receive_if(&bx, (char*)&buf, sizeof(buf));
if (status == 0) {
rt_printk("\nTask3 received msgnr %u from task %u, status=%d\n", buf.progressive, buf.sending_task, status);
}
rt_sleep(nano2count(TIMEBASE));
}
rt_printk("\nTask3 suspends itself\n");
rt_task_suspend(rt_whoami());
}
static void Task7(long t)
{
int unsent;
MSG msg;
rt_printk("\nTask7 (%p) starting\n", rt_whoami());
while (count < MAXCOUNT) {
count++;
msg.progressive = count;
msg.sending_task = 7;
unsent = rt_tbx_urgent(&bx, (char*)&msg, sizeof(msg));
rt_printk("\nTask7=%lu, urgent sending, unsent=%d\n", count, unsent);
rt_sleep(nano2count(3*DELAY + 2*SHIFT));
}
rt_printk("\nTask7 suspends itself\n");
cleanup = 1;
rt_task_suspend(rt_whoami());
}
static void pend_task (long t)
{
unsigned long msg;
while(1) {
switch (change) {
case 0:
rt_task_suspend(thread + t);
break;
case 1:
rt_sem_wait(&sem);
break;
case 2:
rt_return(rt_receive(NULL, &msg), 0);
break;
}
cpu_used[hard_cpu_id()]++;
}
}
void fun(int t)
{
char buf[64];
pid_t from;
int msglen;
rt_printk("Task %p starts.\n", rt_lxrt_whoami());
// init a qBlk
rt_InitTickQueue();
rt_qBlkInit( &Main, SomeOtherThingsTodo, 0, 0);
rt_qBlkWait( &Main, nano2count(1000000000));
from = rt_qReceive( 0, buf, sizeof(buf), &msglen);
rt_task_suspend(rt_whoami());
rt_printk("Task %p Oops.\n", rt_lxrt_whoami());
}
int echo_rcv(int s,void *arg)
{
int ret=0;
struct msghdr msg;
struct iovec iov;
struct sockaddr_in addr;
memset(&msg,0,sizeof(msg));
iov.iov_base=&buffer;
iov.iov_len=BUFSIZE;
msg.msg_name=&addr;
msg.msg_namelen=sizeof(addr);
msg.msg_iov=&iov;
msg.msg_iovlen=1;
msg.msg_control=NULL;
msg.msg_controllen=0;
ret=rt_socket_recvmsg(sock, &msg, 0);
if ( (ret>0) && (msg.msg_namelen==sizeof(struct sockaddr_in)) ) {
union { unsigned long l; unsigned char c[4]; } rcv;
struct sockaddr_in *sin = msg.msg_name;
/* get the time */
rx_time = rt_get_cpu_time_ns();
memcpy (&tx_time, buffer, sizeof(RTIME));
rcvd++;
ret = rtf_put(PRINT, &rx_time, sizeof(RTIME));
ret = rtf_put(PRINT, &tx_time, sizeof(RTIME));
if (0 == ret) {
rt_task_suspend(&rt_task);
rt_printk("fifo full, sending task suspended\n");
}
/* copy the address */
rcv.l = sin->sin_addr.s_addr;
}
return 0;
}
static void __exit rtnetproxy_cleanup_module(void)
{
/* Unregister the fallback at rtnet */
rt_ip_register_fallback(0);
/* free the rtai srq */
rt_free_srq(rtnetproxy_srq);
rt_task_suspend(&rtnetproxy_thread);
rt_task_delete(&rtnetproxy_thread);
/* Free the ringbuffers... */
{
struct sk_buff *del_skb; /* standard skb */
while ((del_skb = read_from_ringbuffer(&ring_skb_rtnet_kernel)) != 0)
{
dev_kfree_skb(del_skb);
}
while ((del_skb = read_from_ringbuffer(&ring_skb_kernel_rtnet)) != 0)
{
dev_kfree_skb(del_skb);
}
}
{
struct rtskb *del; /* rtnet skb */
while ((del=read_from_ringbuffer(&ring_rtskb_kernel_rtnet))!=0)
{
kfree_rtskb(del); // Although this is kernel mode, freeing should work...
}
while ((del=read_from_ringbuffer(&ring_rtskb_rtnet_kernel))!=0)
{
kfree_rtskb(del); // Although this is kernel mode, freeing should work...
}
}
/* Unregister the net device: */
unregister_netdev(&dev_rtnetproxy);
kfree(dev_rtnetproxy.priv);
memset(&dev_rtnetproxy, 0, sizeof(dev_rtnetproxy));
dev_rtnetproxy.init = rtnetproxy_init;
}
