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 *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;
}
