void lowFunc() {
rt_sem_p(&sem, TM_INFINITE);
rt_mutex_acquire(&resourceMutex, TM_INFINITE);
rt_printf("low locks resource\n");
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("low unlocks resource\n");
rt_mutex_release(&resourceMutex);
}
void medium(){
rt_sem_p(&synca, TM_INFINITE);
rt_task_sleep_ms(100);
rt_printf("MEDIUM RUNNING\n");
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("MEDIUM FINISHED\n");
}
void highFunc() {
rt_sem_p(&sem, TM_INFINITE);
rt_task_sleep_ms(200);
rt_printf("High wants to lock resource\n");
rt_mutex_acquire(&resourceMutex, TM_INFINITE);
rt_printf("High locks resource\n");
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("High unlocks resource\n");
rt_mutex_release(&resourceMutex);
}
void medFunc() {
rt_sem_p(&sem, TM_INFINITE);
rt_task_sleep_ms(100);
rt_printf("med starts running\n");
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("med finished\n");
}
void task_H(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_task_sleep_ms(1);
rt_sem_p(&semB,TM_INFINITE);
rt_printf("H : I got B\n");
busy_wait_ms(1);
rt_sem_p(&semA,TM_INFINITE);
busy_wait_ms(2);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
void high(){
rt_sem_p(&synca, TM_INFINITE);
rt_task_sleep_ms(200);
rt_printf("HIGH RUNNING\n");
rt_sem_p(&semaphore, TM_INFINITE);
//rt_mutex_acquire(&mutex, TM_INFINITE);
rt_printf("HIGH AQUIRED LCOK\n");
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("HIGH FINISHED\n");
rt_sem_v(&semaphore);
//rt_mutex_release(&mutex);
}
void low(){
rt_sem_p(&synca, TM_INFINITE);
rt_printf("LOW RUNNING\n");
rt_sem_p(&semaphore, TM_INFINITE);
//rt_mutex_acquire(&mutex, TM_INFINITE);
rt_printf("LOW AQUIRED LOCK\n");
busy_wait_ms(100);
busy_wait_ms(100);
busy_wait_ms(100);
rt_printf("LOW FINISHED\n");
rt_sem_v(&semaphore);
//rt_mutex_release(&mutex);
}
void task_L(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_sem_p(&semA,TM_INFINITE);
int prio = rt_task_set_priority(NULL,99);
rt_printf("L : I got A\n");
busy_wait_ms(3);
rt_sem_p(&semB,TM_INFINITE);
busy_wait_ms(3);
print_pri(NULL,(char) data);
rt_sem_v(&semB);
rt_sem_v(&semA);
}
void semWait2(){
rt_task_sleep(1000000);
rt_mutex_acquire(&b, 0);
rt_printf("High pri task: lock b\n");
busy_wait_ms(1);
rt_mutex_acquire(&a, 0);
rt_printf("High pri task: lock a\n");
busy_wait_ms(2);
rt_printf("High pri task: release a\n");
rt_mutex_release(&a);
rt_printf("High pri task: release b \n");
rt_mutex_release(&b);
busy_wait_ms(1);
}
void semWait1(){
rt_mutex_acquire(&a, 0);
rt_printf("Low pri task: lock a\n");
//rt_timer_spin(3000000);
busy_wait_ms(3);
rt_mutex_acquire(&b, 0);
rt_printf("Low pri task: lock b\n");
busy_wait_ms(3);
rt_printf("Low pri task: unlock b \n");
rt_mutex_release(&b);
rt_printf("Low pri task: unlock a \n");
rt_mutex_release(&a);
rt_printf("Low pri task: stop \n");
}
void task_M(void* data)
{
rt_sem_p(&syncsem,TM_INFINITE);
rt_task_sleep_ms(1);
//rt_sem_p(sem,TM_INFINITE);
busy_wait_ms(5);
print_pri(NULL,(char) data);
//rt_sem_v(sem,TM_INFINITE);
}
void taskM ( void ) {
rt_sem_p(&xenomai_semaphore, TM_INFINITE); // wait for synch
print_pri(&taskMed, "TaskM started\n");
rt_task_sleep(TIME_UNIT);
print_pri(&taskMed, "TaskM starting work\n");
busy_wait_ms(5*TIME_UNIT_MS);
print_pri(&taskMed, "TaskM complete\n");
}
void taskL ( void ) {
rt_sem_p(&xenomai_semaphore, TM_INFINITE); // wait for synch
print_pri(&taskLow, "TaskL started\n");
rt_mutex_acquire(&resMut,NULL); // lock resource
print_pri(&taskLow, "TaskL locked resource\n");
busy_wait_ms(3*TIME_UNIT_MS);
print_pri(&taskLow, "TaskL completed work\n");
print_pri(&taskLow, "TaskL released resource\n");
rt_mutex_release(&resMut); // release resource
}
static void task1(void *argpointer){
/* get task method */
int method = *((int *) argpointer);
free(argpointer);
int id = 1;
sync_threads(id);
rt_task_sleep(1000000);
rt_printf("Task %i start\n", id);
busy_wait_ms(5);
rt_printf("Task %i stop \n", id);
}
static void task0(void *argpointer){
/* get task method */
int method = *((int *) argpointer);
free(argpointer);
int id = 0;
sync_threads(id);
/* get resource */
get_resource(method, id);
/* do work */
rt_printf("Task %i start\n", id);
busy_wait_ms(3);
/* release resource */
release_resource(method, id);
}
static void task2(void *argpointer){
/* get method */
int method = *((int *) argpointer);
free(argpointer);
int id = 2;
sync_threads(id);
rt_task_sleep(2000000);
/* Get resource */
get_resource(method, id);
/* Simulate work */
rt_printf("Task %i start \n", id);
busy_wait_ms(2);
/* Release resource */
release_resource(method, id);
}
