int main(int argc, char* argv[])
{
unsigned long srv_name = nam2num("SRV");
RT_TASK *srv;
pid_t pid, my_pid, proxy ;
int err,/* i,*/ count, msglen ;
RTIME period;
char *pt;
init_linux_scheduler(SCHED_FIFO, 98);
err = lock_all(0,0);
if(err) {
printf("lock_all() fails\n");
exit(-1);
}
if (!(srv = rt_task_init(srv_name, 0, 0, 0))) {
printf("CANNOT INIT SRV TASK\n");
exit(-1);
}
my_pid = rt_Alias_attach("");
if(!my_pid) {
rtai_print_to_screen("Cannot attach name SRV\n");
exit(-1);
}
period = nano2count(1000000);
rt_set_oneshot_mode();
start_rt_timer(period);
printf("SRV starts (%p)\n", srv);
rt_make_hard_real_time();
rt_task_make_periodic(srv, rt_get_time(), period);
proxy = rt_Proxy_attach( 0, "More beer please", 17, -1);
if(proxy <= 0 ) {
rtai_print_to_screen("Failed to attach proxy\n");
exit(-1);
}
pid = rt_Receive( 0, 0, 0, &msglen);
if(pid) {
// handshake to give the proxy to CLT
rtai_print_to_screen("rt_Reply the proxy %04X msglen = %d\n", proxy, msglen);
rt_Reply( pid, &proxy, sizeof(proxy));
}
rt_sleep(nano2count(1000000000));
count = 8 ;
while(count--) {
memset( msg, 0, sizeof(msg));
pid = rt_Receive( 0, msg, sizeof(msg), &msglen);
if(pid == proxy) {
rtai_print_to_screen("SRV receives the PROXY event [%s]\n", msg);
continue;
} else if( pid <= 0) {
rtai_print_to_screen("SRV rt_Receive() failed\n");
// goto Exit;
continue;
}
rtai_print_to_screen("SRV received msg [%s] %d bytes from pid %04X\n", msg, msglen, pid);
memcpy( rep, msg, sizeof(rep));
pt = (char *) rep;
while(*pt) *pt++ = toupper(*pt);
if(rt_Reply(pid, rep, sizeof(rep)))
rtai_print_to_screen("SRV rt_Reply() failed\n");
}
if(rt_Proxy_detach(proxy))
rtai_print_to_screen("SRV cannot detach proxy\n");
if(rt_Name_detach(my_pid))
rtai_print_to_screen("SRV cannot detach name\n");
//Exit:
rt_make_soft_real_time();
rt_sleep(nano2count(1000000000));
if(rt_task_delete(srv))
rtai_print_to_screen("SRV cannot delete task\n");
return 0;
}
int main(int argc, char* argv[])
{
unsigned long srv_name = nam2num("SRV");
RT_TASK *srv;
pid_t pid, my_pid, proxy;
int count;
size_t msglen;
RTIME period;
char *pt;
if (!(srv = rt_task_init_schmod(srv_name, 0, 0, 0, SCHED_FIFO, 0x1))) {
PRINTF("CANNOT INIT SRV TASK\n");
exit(-1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
my_pid = rt_Alias_attach("");
if (my_pid <= 0) {
PRINTF("Cannot attach name SRV\n");
exit(-1);
}
// rt_set_oneshot_mode();
period = nano2count(1000000);
start_rt_timer(period);
rt_make_hard_real_time();
PRINTF("SRV starts (task = %p, pid = %d)\n", srv, my_pid);
rt_task_make_periodic(srv, rt_get_time(), period);
proxy = rt_Proxy_attach(0, "More beer please", 17, -1);
if (proxy <= 0 ) {
PRINTF("Failed to attach proxy\n");
exit(-1);
}
msglen = 0;
pid = rt_Receive(0, 0, 0, &msglen);
if (pid) {
// handshake to give the proxy to CLT
PRINTF("rt_Reply the proxy %04X msglen = %d\n", proxy, msglen);
rt_Reply(pid, &proxy, sizeof(proxy));
}
rt_sleep(nano2count(1000000000));
count = 20;
while(count--) {
memset( msg, 0, sizeof(msg));
pid = rt_Receive(0, msg, sizeof(msg), &msglen);
if(pid == proxy) {
PRINTF("SRV receives the PROXY event [%s]\n", msg);
continue;
} else if (pid <= 0) {
PRINTF("SRV rt_Receive() failed\n");
continue;
}
PRINTF("SRV received msg [%s] %d bytes from pid %04X\n", msg, msglen, pid);
memcpy (rep, msg, sizeof(rep));
pt = (char *) rep;
while (*pt) {
*pt = toupper(*pt);
pt++;
}
if (rt_Reply(pid, rep, sizeof(rep))) {
PRINTF("SRV rt_Reply() failed\n");
}
}
if (rt_Proxy_detach(proxy)) {
PRINTF("SRV cannot detach proxy\n");
}
if (rt_Name_detach(my_pid)) {
PRINTF("SRV cannot detach name\n");
}
rt_make_soft_real_time();
rt_sleep(nano2count(1000000000));
if (rt_task_delete(srv)) {
PRINTF("SRV cannot delete task\n");
}
return 0;
}
void linux_process_termination(void)
{
RT_TASK *task2delete, *task2unblock, *base_linux_tasks[NR_RT_CPUS];
int cpu, slot, nr_task_lists;
pid_t my_pid;
struct task_struct *ltsk;
unsigned long num;
void *adr;
/*
* Linux is just about to schedule *ltsk out of existence.
* With this feature, LXRT frees the real time resources allocated
* by the task ltsk.
*/
ltsk = current;
rt_get_base_linux_task(base_linux_tasks);
nr_task_lists = rt_sched_type() == MUP_SCHED ? NR_RT_CPUS : 1;
rt_global_cli();
for (cpu = 0; cpu < nr_task_lists; cpu++) {
task2delete = base_linux_tasks[cpu];
// Try to find if RTAI was aware of this dying Linux task.
while ((task2delete = task2delete->next) && task2delete->lnxtsk != ltsk);
// First let's free the registered resources.
for (slot = 1; slot <= MAX_SLOTS; slot++) {
if ((num = is_process_registered(ltsk)) > 0) {
adr = rt_get_adr(num);
switch (rt_get_type(num)) {
case IS_SEM:
rt_printk("LXRT Informed releases SEM %p\n", adr);
rt_sem_delete(adr);
rt_free(adr);
break;
case IS_MBX:
rt_printk("LXRT Informed releases MBX %p\n", adr);
rt_mbx_delete(adr);
rt_free(adr);
break;
case IS_PRX:
rt_printk("LXRT Informed releases PRX %p\n", adr);
rt_Proxy_detach(rttask2pid(adr));
break;
// to do: case IS_SHMEM:
}
rt_drg_on_adr(adr);
}
}
// Synchronous IPC pid may need to be released
if ((my_pid = rttask2pid(task2delete))) {
rt_printk("Release vc %04X\n", my_pid);
rt_vc_release(my_pid);
}
if (!task2delete) {
continue; // The user deleted the task but forgot to delete the resources.
}
// Other RTAI tasks may be SEND, RPC or RETURN blocked on task2delete.
Loop:
task2unblock = base_linux_tasks[cpu];
while ((task2unblock = task2unblock->next)) {
if (!(task2unblock->state & (SEND | RPC | RETURN))) {
continue;
} else if (task2unblock->msg_queue.task == task2delete) {
task2unblock->state &= ~(SEND | RPC | RETURN | DELAYED);
LXRT_RESUME(task2unblock);
rt_global_cli();
goto Loop;
}
}
// To do: other RTAI tasks may want to be informed as well.
// Ok, let's delete the task.
if (!rt_task_delete(task2delete)) {
rt_printk("LXRT Informed releases RT %p, lnxpid %d (%p), name %s.\n", task2delete, ltsk->pid, ltsk, ltsk->comm);
rt_free(task2delete->msg_buf[0]);
rt_free(task2delete);
rt_drg_on_adr(task2delete);
break;
}
}
rt_global_sti();
}