int main(void)
{
RT_TASK *Main_Task;
long msg;
if (!(Main_Task = rt_thread_init(nam2num("MNTSK"), 10, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT MAIN TASK\n");
exit(1);
}
if (!(hard_timer_running = rt_is_hard_timer_running())) {
start_rt_timer(0);
}
barrier = rt_sem_init(nam2num("PREMS"), 4);
latency_thread = rt_thread_create(latency_fun, NULL, 0);
fast_thread = rt_thread_create(fast_fun, NULL, 0);
slow_thread = rt_thread_create(slow_fun, NULL, 0);
start = rt_get_time() + nano2count(200000000);
rt_sem_wait_barrier(barrier);
rt_receive(0, &msg);
end = 1;
rt_sem_wait_barrier(barrier);
rt_thread_join(latency_thread);
rt_thread_join(fast_thread);
rt_thread_join(slow_thread);
if (!hard_timer_running) {
stop_rt_timer();
}
rt_sem_delete(barrier);
rt_thread_delete(Main_Task);
return 0;
}
int main(void)
{
RT_TASK *mytask;
int smbx, rmbx[NTASKS];
int i, bthread, mthread[NTASKS];
char msg[] = "let's end the game";
mytask = rt_thread_init(nam2num("MAIN"), 2, 0, SCHED_FIFO, 0xF);
barrier = rt_sem_init(rt_get_name(0), NTASKS + 1);
smbx = rt_msgget(nam2num("SMSG"), 0x666 | IPC_CREAT);
for (i = 0; i < NTASKS; i++) {
char mname[6] = "RMBX";
mname[4] = i + '0';
mname[5] = 0;
rmbx[i] = rt_msgget(nam2num(mname), 0x666 | IPC_CREAT);
}
rt_set_oneshot_mode();
start_rt_timer(0);
bthread = rt_thread_create(bfun, 0, 0x8000);
for (i = 0; i < NTASKS; i++) {
mthread[i] = rt_thread_create(mfun, (void *)i, 0x8000);
}
printf("IF NOTHING HAPPENS IS OK, TYPE ENTER TO FINISH.\n");
getchar();
for (i = 0; i < NTASKS; i++) {
end = i;
rt_msgsnd_nu(rmbx[i], 1, msg, sizeof(msg), 0);
rt_thread_join(mthread[i]);
}
end = NTASKS;
rt_msgsnd_nu(smbx, 1, msg, sizeof(msg), 0);
rt_thread_join(bthread);
for (i = 0; i < NTASKS; i++) {
rt_msgctl(rmbx[i], IPC_RMID, NULL);
printf("TASK %d, LOOPS: %d.\n", i, cnt[i]);
}
rt_msgctl(smbx, IPC_RMID, NULL);
stop_rt_timer();
rt_sem_delete(barrier);
rt_task_delete(mytask);
printf("MAIN TASK ENDS.\n");
return 0;
}
int main(int argc, char *argv[])
{
RT_TASK *task;
struct sockaddr_in addr;
int i, srvport;
if (!(task = rt_task_init(nam2num("TSKCOD"), 0, 0, 0))) {
printf("CANNOT INIT TASK CODE\n");
exit(1);
}
comnode = 0;
if (argc == 2 && strstr(argv[1], "ComNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
}
if (!comnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
}
init_module();
for (i = 0; i < NUM_TASKS; i++) {
rt_thread_join(thread[i]);
}
while ((srvport = rt_request_port(comnode)) <= 0) {
msleep(100);
}
RT_sem_signal(comnode, srvport, end_sem);
rt_release_port(comnode, srvport);
rt_task_delete(task);
exit(0);
}
int main(void)
{
int i, indx[NTASKS];
unsigned long mytask_name = nam2num("MASTER");
signal(SIGINT, endme);
if (!(mytask = rt_task_init(mytask_name, 1, 0, 0))) {
printf("CANNOT INIT TASK %lu\n", mytask_name);
exit(1);
}
printf("MASTER INIT: name = %lu, address = %p.\n", mytask_name, mytask);
sem = rt_sem_init(10000, 0);
rt_set_oneshot_mode();
// rt_set_periodic_mode();
start_rt_timer(0);
for (i = 0; i < ntasks; i++) {
indx[i] = i;
if (!(task[i] = rt_thread_create(thread_fun, &indx[i], 10000))) {
printf("ERROR IN CREATING THREAD %d\n", indx[i]);
exit(1);
}
}
for (i = 0; i < ntasks; i++) {
while (!rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_send(rt_get_adr(taskname(i)), (unsigned long)sem);
}
for (i = 0; i < ntasks; i++) {
rt_sem_wait(sem);
}
for (i = 0; i < ntasks; i++) {
while (rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_thread_join(task[i]);
}
rt_sem_delete(sem);
stop_rt_timer();
rt_task_delete(mytask);
printf("MASTER %lu %p ENDS\n", mytask_name, mytask);
return 0;
}
int main (void)
{
M3EcSystemShm * sys;
RT_TASK *task;
pthread_t ptsys;
int cntr=0;
signal(SIGINT, endme);
sys = rtai_malloc (nam2num(SHMNAM_M3MKMD),1);
if (sys==-1)
{
printf("Error allocating shared memory\n");
return 0;
}
int ns=sys->slaves_active;
printf("Found %d active M3 EtherCAT slaves\n",ns);
if (ns==0)
{
printf("No slaves available. Exiting...\n");
return 0;
}
rt_allow_nonroot_hrt();
if (!(task = rt_task_init_schmod(nam2num("M3MAIN"), RT_TASK_PRIORITY, 0, 0, SCHED_FIFO, 0xF)))
{
rt_shm_free(nam2num(SHMNAM_M3MKMD));
printf("Cannot init the RTAI task %s\n","M3MAIN");
return 0;
}
hst=rt_thread_create((void*)rt_system_thread, sys, 10000);
usleep(100000); //Let start up
if (!sys_thread_active)
{
rt_task_delete(task);
rt_shm_free(nam2num(SHMNAM_M3MKMD));
printf("Startup of thread failed.\n",0);
return 0;
}
while(!end)
{
//SysEcShmPrettyPrint(sys);
usleep(250000);
}
printf("Removing RT thread...\n",0);
sys_thread_end=1;
rt_thread_join(hst);
if (sys_thread_active)printf("Real-time thread did not shutdown correctly\n");
rt_task_delete(task);
rt_shm_free(nam2num(SHMNAM_M3MKMD));
return 0;
}
int main(void)
{
long signal_a;
long signal_b;
t_info a = {
.id = 'A',
};
t_info b = {
.id = 'B',
};
finish = 0;
rt_set_periodic_mode();
start_rt_timer(nano2count(TICK_TIME));
rt_make_hard_real_time();
a.delay = 0;
a.period = nano2count(TICK_TIME);
signal_a = rt_thread_create(&signal_func, &a, 500);
if (!signal_a) {
printf("Can not initialize signal A\n");
return -ENODEV;
}
b.delay = nano2count(DELAY_TIME);
b.period = nano2count(TICK_TIME);
signal_b = rt_thread_create(&signal_func, &b, 500);
if (!signal_b) {
printf("Can not initialize signal B\n");
return -ENODEV;
}
scanf("%d", &finish);
finish = 1;
rt_thread_join(signal_a);
rt_thread_join(signal_b);
pthread_exit(NULL);
return 0;
}
/*
* Shutdown all of the worker threads and free up their resources
*/
void destroy_render_threads(scenedef * scene) {
thr_parms * parms = (thr_parms *) scene->threadparms;
rt_thread_t * threads = (rt_thread_t *) scene->threads;
int thr;
#if defined(MPI) && defined(THR)
int row;
#endif
if (scene->threads != NULL) {
/* wake up sleepers and tell them to exit */
rt_thread_barrier(parms[0].runbar, 0);
/* wait for all sleepers to exit */
for (thr=1; thr<parms[0].nthr; thr++)
rt_thread_join(threads[thr], NULL);
/* destroy the thread barrier */
rt_thread_barrier_destroy(parms[0].runbar);
free(scene->threads);
}
if (scene->threadparms != NULL) {
/* deallocate thread parameter buffers
* NOTE: This has to use the remembered number of threads stored in the
* thread parameter area for thread 0, since the one in the scene
* may have changed on us.
*/
for (thr=0; thr < parms[0].nthr; thr++) {
if (parms[thr].local_mbox != NULL)
free(parms[thr].local_mbox);
}
#if defined(MPI) && defined(THR)
/* destroy and free row barriers for MPI builds */
for (row=0; row<parms[0].numrowbars; row++) {
rt_atomic_int_destroy(&parms[0].rowbars[row]);
}
rt_atomic_int_destroy(parms[0].rowsdone);
free(parms[0].rowbars);
free(parms[0].rowsdone);
#endif
free(scene->threadparms);
}
scene->threads = NULL;
scene->threadparms = NULL;
}
int main(void)
{
rt_thread_init(nam2num("MNTSK"), 100, 0, SCHED_FIFO, 0x1);
rt_printk("\nTESTING THE SCHEDULER WITH SEMs [%d LOOPs].\n", LOOPS);
sem1 = rt_sem_init(nam2num("SEM1"), 0);
sem2 = rt_sem_init(nam2num("SEM2"), 0);
thread1 = rt_thread_create(task1, NULL, STACK_SIZE);
poll(NULL, 0, 100);
thread2 = rt_thread_create(task2, NULL, STACK_SIZE);
rt_thread_join(thread2);
end = 1;
rt_sem_signal(sem1);
rt_thread_join(thread1);
rt_sem_delete(sem1);
rt_sem_delete(sem2);
rt_task_delete(NULL);
rt_printk("END SCHEDULER TEST WITH SEMs.\n\n");
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;
}
int main(int argc, char *argv[])
{
RT_TASK *task;
struct sockaddr_in addr;
int i, srvport;
if (!(task = rt_task_init(nam2num("STRTSK"), 0, 0, 0))) {
printf("CANNOT INIT START_TASK TASK\n");
exit(1);
}
comnode = tasknode = 0;
for (i = 0; i < argc; i++) {
if (strstr(argv[i], "ComNode=")) {
inet_aton(argv[i] + 8, &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
argv[i] = 0;
continue;
}
if (strstr(argv[i], "TaskNode=")) {
inet_aton(argv[i] + 9, &addr.sin_addr);
tasknode = addr.sin_addr.s_addr;
argv[i] = 0;
continue;
}
}
if (!comnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
comnode = addr.sin_addr.s_addr;
}
if (!tasknode) {
inet_aton("127.0.0.1", &addr.sin_addr);
tasknode = addr.sin_addr.s_addr;
}
rt_grow_and_lock_stack(100000);
init_module();
rt_thread_join(thread);
while ((srvport = rt_request_hard_port(comnode)) <= 0) {
msleep(100);
}
rt_make_hard_real_time();
RT_sem_signal(comnode, srvport, end_sem);
rt_make_soft_real_time();
rt_release_port(comnode, srvport);
rt_task_delete(task);
exit(0);
}
int main(void)
{
RT_TASK *mytask;
RT_MSGQ *smbx;
int bthread;
char msg[] = "let's end the game";
mytask = rt_thread_init(nam2num("MAIN"), 2, 0, SCHED_FIFO, 0xF);
smbx = rt_msgq_init(nam2num("SMSG"), 0, 0);
bthread = rt_thread_create(bfun, 0, 0x8000);
printf("IF NOTHING HAPPENS IS OK, TYPE ENTER TO FINISH.\n");
getchar();
end = 1;
rt_msg_send(smbx, msg, sizeof(msg), 1);
rt_thread_join(bthread);
rt_task_delete(mytask);
printf("MAIN TASK ENDS.\n");
return 0;
}
void TestRTAI::stop()
{
continueRunning = false;
rt_thread_join(rtThreadID); // blocks until the real-time thread exits.
rt_task_delete(normalTask);
}
int main(int argc, char **argv) {
#ifdef RTAI
RT_TASK *task;
RTIME period;
#endif
int i,j,aa;
void *status;
/*
uint32_t rf_mode_max[4] = {55759,55759,55759,55759};
uint32_t rf_mode_med[4] = {39375,39375,39375,39375};
uint32_t rf_mode_byp[4] = {22991,22991,22991,22991};
*/
uint32_t my_rf_mode = RXEN + TXEN + TXLPFNORM + TXLPFEN + TXLPF25 + RXLPFNORM + RXLPFEN + RXLPF25 + LNA1ON +LNAMax + RFBBNORM + DMAMODE_RX + DMAMODE_TX;
uint32_t rf_mode_base = TXLPFNORM + TXLPFEN + TXLPF25 + RXLPFNORM + RXLPFEN + RXLPF25 + LNA1ON +LNAMax + RFBBNORM;
uint32_t rf_mode[4] = {my_rf_mode,0,0,0};
uint32_t rf_local[4] = {8255000,8255000,8255000,8255000}; // UE zepto
//{8254617, 8254617, 8254617, 8254617}; //eNB khalifa
//{8255067,8254810,8257340,8257340}; // eNB PETRONAS
uint32_t rf_vcocal[4] = {910,910,910,910};
uint32_t rf_vcocal_850[4] = {2015, 2015, 2015, 2015};
uint32_t rf_rxdc[4] = {32896,32896,32896,32896};
uint32_t rxgain[4] = {20,20,20,20};
uint32_t txgain[4] = {20,20,20,20};
uint16_t Nid_cell = 0;
uint8_t cooperation_flag=0, transmission_mode=1, abstraction_flag=0;
uint8_t beta_ACK=0,beta_RI=0,beta_CQI=2;
int c;
char do_forms=0;
unsigned int fd;
unsigned int tcxo = 114;
int amp;
uint8_t prach_fmt;
int N_ZC;
char rxg_fname[100];
char txg_fname[100];
char rflo_fname[100];
char rfdc_fname[100];
FILE *rxg_fd=NULL;
FILE *txg_fd=NULL;
FILE *rflo_fd=NULL;
FILE *rfdc_fd=NULL;
unsigned int rxg_max[4]={133,133,133,133}, rxg_med[4]={127,127,127,127}, rxg_byp[4]={120,120,120,120};
int tx_max_power=0;
char line[1000];
int l;
int ret, ant;
int ant_offset=0;
int error_code;
char *itti_dump_file = NULL;
const struct option long_options[] = {
{"calib-ue-rx", required_argument, NULL, 256},
{"calib-ue-rx-med", required_argument, NULL, 257},
{"calib-ue-rx-byp", required_argument, NULL, 258},
{"debug-ue-prach", no_argument, NULL, 259},
{"no-L2-connect", no_argument, NULL, 260},
{NULL, 0, NULL, 0}};
//mode = normal_txrx;
while ((c = getopt_long (argc, argv, "C:K:O:ST:UdF:V",long_options,NULL)) != -1)
{
switch (c)
{
case 'V':
ouput_vcd = 1;
break;
case 'd':
do_forms=1;
break;
case 'U':
UE_flag = 1;
break;
case 'C':
carrier_freq[0] = atoi(optarg);
carrier_freq[1] = atoi(optarg);
carrier_freq[2] = atoi(optarg);
carrier_freq[3] = atoi(optarg);
break;
case 'S':
fs4_test=1;
break;
case 'T':
tcxo=atoi(optarg);
break;
case 'K':
#if defined(ENABLE_ITTI)
itti_dump_file = strdup(optarg);
#else
printf("-K option is disabled when ENABLE_ITTI is not defined\n");
#endif
break;
case 'O':
#if defined(ENABLE_USE_MME)
EPC_MODE_ENABLED = 1;
if (optarg == NULL) /* No IP address provided: use localhost */
{
memcpy(&EPC_MODE_MME_ADDRESS[0], "127.0.0.1", 10);
} else {
uint8_t ip_length = strlen(optarg) + 1;
memcpy(&EPC_MODE_MME_ADDRESS[0], optarg,
ip_length > 16 ? 16 : ip_length);
}
#else
printf("You enabled mme mode without s1ap compiled...\n");
#endif
break;
case 'F':
sprintf(rxg_fname,"%srxg.lime",optarg);
rxg_fd = fopen(rxg_fname,"r");
if (rxg_fd) {
printf("Loading RX Gain parameters from %s\n",rxg_fname);
l=0;
while (fgets(line, sizeof(line), rxg_fd)) {
if ((strlen(line)==0) || (*line == '#')) continue; //ignore empty or comment lines
else {
if (l==0) sscanf(line,"%d %d %d %d",&rxg_max[0],&rxg_max[1],&rxg_max[2],&rxg_max[3]);
if (l==1) sscanf(line,"%d %d %d %d",&rxg_med[0],&rxg_med[1],&rxg_med[2],&rxg_med[3]);
if (l==2) sscanf(line,"%d %d %d %d",&rxg_byp[0],&rxg_byp[1],&rxg_byp[2],&rxg_byp[3]);
l++;
}
}
}
else
printf("%s not found, running with defaults\n",rxg_fname);
sprintf(txg_fname,"%stxg.lime",optarg);
txg_fd = fopen(txg_fname,"r");
if (txg_fd) {
printf("Loading TX Gain parameters from %s\n",txg_fname);
l=0;
while (fgets(line, sizeof(line), txg_fd)) {
if ((strlen(line)==0) || (*line == '#')) {
continue; //ignore empty or comment lines
}
else {
if (l==0) sscanf(line,"%d %d %d %d",&txgain[0],&txgain[1],&txgain[2],&txgain[3]);
if (l==1) sscanf(line,"%d",&tx_max_power);
l++;
}
}
}
else
printf("%s not found, running with defaults\n",txg_fname);
sprintf(rflo_fname,"%srflo.lime",optarg);
rflo_fd = fopen(rflo_fname,"r");
if (rflo_fd) {
printf("Loading RF LO parameters from %s\n",rflo_fname);
fscanf(rflo_fd,"%d %d %d %d",&rf_local[0],&rf_local[1],&rf_local[2],&rf_local[3]);
}
else
printf("%s not found, running with defaults\n",rflo_fname);
sprintf(rfdc_fname,"%srfdc.lime",optarg);
rfdc_fd = fopen(rfdc_fname,"r");
if (rfdc_fd) {
printf("Loading RF DC parameters from %s\n",rfdc_fname);
fscanf(rfdc_fd,"%d %d %d %d",&rf_rxdc[0],&rf_rxdc[1],&rf_rxdc[2],&rf_rxdc[3]);
}
else
printf("%s not found, running with defaults\n",rfdc_fname);
break;
/*
case 256:
mode = rx_calib_ue;
rx_input_level_dBm = atoi(optarg);
printf("Running with UE calibration on (LNA max), input level %d dBm\n",rx_input_level_dBm);
break;
case 257:
mode = rx_calib_ue_med;
rx_input_level_dBm = atoi(optarg);
printf("Running with UE calibration on (LNA med), input level %d dBm\n",rx_input_level_dBm);
break;
case 258:
mode = rx_calib_ue_byp;
rx_input_level_dBm = atoi(optarg);
printf("Running with UE calibration on (LNA byp), input level %d dBm\n",rx_input_level_dBm);
break;
case 259:
mode = debug_prach;
break;
case 260:
mode = no_L2_connect;
break;
*/
default:
break;
}
}
if (UE_flag==1)
printf("configuring for UE\n");
else
printf("configuring for eNB\n");
//randominit (0);
//set_taus_seed (0);
// initialize the log (see log.h for details)
logInit();
#if defined(ENABLE_ITTI)
itti_init(TASK_MAX, THREAD_MAX, MESSAGES_ID_MAX, tasks_info, messages_info, messages_definition_xml, itti_dump_file);
# if defined(ENABLE_USE_MME)
if (itti_create_task(TASK_SCTP, sctp_eNB_task, NULL) < 0) {
LOG_E(EMU, "Create task failed");
LOG_D(EMU, "Initializing SCTP task interface: FAILED\n");
return -1;
}
if (itti_create_task(TASK_S1AP, s1ap_eNB_task, NULL) < 0) {
LOG_E(EMU, "Create task failed");
LOG_D(EMU, "Initializing S1AP task interface: FAILED\n");
return -1;
}
# endif
if (itti_create_task(TASK_L2L1, l2l1_task, NULL) < 0) {
LOG_E(EMU, "Create task failed");
LOG_D(EMU, "Initializing L2L1 task interface: FAILED\n");
return -1;
}
// Handle signals until all tasks are terminated
// itti_wait_tasks_end();
#endif
if (ouput_vcd) {
if (UE_flag==1)
vcd_signal_dumper_init("/tmp/openair_dump_UE.vcd");
else
vcd_signal_dumper_init("/tmp/openair_dump_eNB.vcd");
}
#ifdef NAS_NETLINK
netlink_init();
#endif
// to make a graceful exit when ctrl-c is pressed
signal(SIGSEGV, signal_handler);
signal(SIGINT, signal_handler);
#ifndef RTAI
check_clock();
#endif
g_log->log_component[HW].level = LOG_DEBUG;
g_log->log_component[HW].flag = LOG_HIGH;
#ifdef OPENAIR2
g_log->log_component[PHY].level = LOG_INFO;
#else
g_log->log_component[PHY].level = LOG_INFO;
#endif
g_log->log_component[PHY].flag = LOG_HIGH;
g_log->log_component[MAC].level = LOG_INFO;
g_log->log_component[MAC].flag = LOG_HIGH;
g_log->log_component[RLC].level = LOG_INFO;
g_log->log_component[RLC].flag = LOG_HIGH;
g_log->log_component[PDCP].level = LOG_INFO;
g_log->log_component[PDCP].flag = LOG_HIGH;
g_log->log_component[OTG].level = LOG_INFO;
g_log->log_component[OTG].flag = LOG_HIGH;
g_log->log_component[RRC].level = LOG_INFO;
g_log->log_component[RRC].flag = LOG_HIGH;
// Initialize card
ret = openair0_open();
if ( ret != 0 ) {
if (ret == -1)
printf("Error opening /dev/openair0");
if (ret == -2)
printf("Error mapping bigshm");
if (ret == -3)
printf("Error mapping RX or TX buffer");
return(ret);
}
printf ("Detected %d number of cards, %d number of antennas.\n", openair0_num_detected_cards, openair0_num_antennas[card]);
p_exmimo_config = openair0_exmimo_pci[card].exmimo_config_ptr;
p_exmimo_id = openair0_exmimo_pci[card].exmimo_id_ptr;
printf("Card %d: ExpressMIMO %d, HW Rev %d, SW Rev 0x%d\n", card, p_exmimo_id->board_exmimoversion, p_exmimo_id->board_hwrev, p_exmimo_id->board_swrev);
if (p_exmimo_id->board_swrev>=BOARD_SWREV_CNTL2)
p_exmimo_config->framing.eNB_flag = 0;
else
p_exmimo_config->framing.eNB_flag = !UE_flag;
p_exmimo_config->framing.tdd_config = DUPLEXMODE_FDD + TXRXSWITCH_LSB;
for (ant=0; ant<4; ant++)
p_exmimo_config->framing.resampling_factor[ant] = RESAMPLING_FACTOR;
/*
for (ant=0;ant<max(frame_parms->nb_antennas_tx,frame_parms->nb_antennas_rx);ant++)
p_exmimo_config->rf.rf_mode[ant] = rf_mode_base;
for (ant=0;ant<frame_parms->nb_antennas_tx;ant++)
p_exmimo_config->rf.rf_mode[ant] += (TXEN + DMAMODE_TX);
for (ant=0;ant<frame_parms->nb_antennas_rx;ant++)
p_exmimo_config->rf.rf_mode[ant] += (RXEN + DMAMODE_RX);
for (ant=max(frame_parms->nb_antennas_tx,frame_parms->nb_antennas_rx);ant<4;ant++) {
p_exmimo_config->rf.rf_mode[ant] = 0;
carrier_freq[ant] = 0; //this turns off all other LIMEs
}
*/
ant_offset = 0;
for (ant=0; ant<4; ant++) {
if (ant==ant_offset) {
//if (1) {
p_exmimo_config->rf.rf_mode[ant] = rf_mode_base;
//p_exmimo_config->rf.rf_mode[ant] += (TXEN + DMAMODE_TX);
p_exmimo_config->rf.rf_mode[ant] += (RXEN + DMAMODE_RX);
}
else {
p_exmimo_config->rf.rf_mode[ant] = 0;
carrier_freq[ant] = 0; //this turns off all other LIMEs
}
}
for (ant = 0; ant<4; ant++) {
p_exmimo_config->rf.do_autocal[ant] = 1;
p_exmimo_config->rf.rf_freq_rx[ant] = carrier_freq[ant];
p_exmimo_config->rf.rf_freq_tx[ant] = carrier_freq[ant];
p_exmimo_config->rf.rx_gain[ant][0] = rxgain[ant];
p_exmimo_config->rf.tx_gain[ant][0] = txgain[ant];
p_exmimo_config->rf.rf_local[ant] = rf_local[ant];
p_exmimo_config->rf.rf_rxdc[ant] = rf_rxdc[ant];
if ((carrier_freq[ant] >= 850000000) && (carrier_freq[ant] <= 865000000)) {
p_exmimo_config->rf.rf_vcocal[ant] = rf_vcocal_850[ant];
p_exmimo_config->rf.rffe_band_mode[ant] = DD_TDD;
}
else if ((carrier_freq[ant] >= 1900000000) && (carrier_freq[ant] <= 2000000000)) {
p_exmimo_config->rf.rf_vcocal[ant] = rf_vcocal[ant];
p_exmimo_config->rf.rffe_band_mode[ant] = B19G_TDD;
}
else {
p_exmimo_config->rf.rf_vcocal[ant] = rf_vcocal[ant];
p_exmimo_config->rf.rffe_band_mode[ant] = 0;
}
p_exmimo_config->rf.rffe_gain_txlow[ant] = 31;
p_exmimo_config->rf.rffe_gain_txhigh[ant] = 31;
p_exmimo_config->rf.rffe_gain_rxfinal[ant] = 52;
p_exmimo_config->rf.rffe_gain_rxlow[ant] = 31;
}
number_of_cards = openair0_num_detected_cards;
/*
if (p_exmimo_id->board_exmimoversion==1) //ExpressMIMO1
openair_daq_vars.timing_advance = 138;
else //ExpressMIMO2
openair_daq_vars.timing_advance = 0;
*/
openair0_dump_config(card);
printf("EXMIMO_CONFIG: rf_mode 0x %x %x %x %x, [0]: TXRXEn %d, TXLPFEn %d, TXLPF %d, RXLPFEn %d, RXLPF %d, RFBB %d, LNA %d, LNAGain %d, RXLPFMode %d, SWITCH %d, rf_rxdc %d, rf_local %d, rf_vcocal %d\n",
p_exmimo_config->rf.rf_mode[0],
p_exmimo_config->rf.rf_mode[1],
p_exmimo_config->rf.rf_mode[2],
p_exmimo_config->rf.rf_mode[3],
(p_exmimo_config->rf.rf_mode[0]&3), // RXen+TXen
(p_exmimo_config->rf.rf_mode[0]&4)>>2, //TXLPFen
(p_exmimo_config->rf.rf_mode[0]&TXLPFMASK)>>3, //TXLPF
(p_exmimo_config->rf.rf_mode[0]&128)>>7, //RXLPFen
(p_exmimo_config->rf.rf_mode[0]&RXLPFMASK)>>8, //TXLPF
(p_exmimo_config->rf.rf_mode[0]&RFBBMASK)>>16, // RFBB mode
(p_exmimo_config->rf.rf_mode[0]&LNAMASK)>>12, // RFBB mode
(p_exmimo_config->rf.rf_mode[0]&LNAGAINMASK)>>14, // RFBB mode
(p_exmimo_config->rf.rf_mode[0]&RXLPFMODEMASK)>>19, // RXLPF mode
(p_exmimo_config->framing.tdd_config&TXRXSWITCH_MASK)>>1, // Switch mode
p_exmimo_config->rf.rf_rxdc[0],
p_exmimo_config->rf.rf_local[0],
p_exmimo_config->rf.rf_vcocal[0]);
for (ant=0;ant<4;ant++)
p_exmimo_config->rf.do_autocal[ant] = 0;
#ifdef EMOS
error_code = rtf_create(CHANSOUNDER_FIFO_MINOR,CHANSOUNDER_FIFO_SIZE);
if (error_code==0)
printf("[OPENAIR][SCHED][INIT] Created EMOS FIFO %d\n",CHANSOUNDER_FIFO_MINOR);
else if (error_code==ENODEV)
printf("[OPENAIR][SCHED][INIT] Problem: EMOS FIFO %d is greater than or equal to RTF_NO\n",CHANSOUNDER_FIFO_MINOR);
else if (error_code==ENOMEM)
printf("[OPENAIR][SCHED][INIT] Problem: cannot allocate memory for EMOS FIFO %d\n",CHANSOUNDER_FIFO_MINOR);
else
printf("[OPENAIR][SCHED][INIT] Problem creating EMOS FIFO %d, error_code %d\n",CHANSOUNDER_FIFO_MINOR,error_code);
#endif
mlockall(MCL_CURRENT | MCL_FUTURE);
#ifdef RTAI
// make main thread LXRT soft realtime
task = rt_task_init_schmod(nam2num("MYTASK"), 9, 0, 0, SCHED_FIFO, 0xF);
// start realtime timer and scheduler
#ifdef TIMER_ONESHOT_MODE
rt_set_oneshot_mode();
start_rt_timer(0);
printf("started RTAI timer inoneshot mode\n");
#else
rt_set_periodic_mode();
period = start_rt_timer(nano2count(500000));
printf("started RTAI timer with period %llu ns\n",count2nano(period));
#endif
printf("Init mutex\n");
//mutex = rt_get_adr(nam2num("MUTEX"));
mutex = rt_sem_init(nam2num("MUTEX"), 1);
if (mutex==0)
{
printf("Error init mutex\n");
exit(-1);
}
else
printf("mutex=%p\n",mutex);
#endif
DAQ_MBOX = (volatile unsigned int *) openair0_exmimo_pci[card].rxcnt_ptr[0];
// this starts the DMA transfers
if (UE_flag!=1)
openair0_start_rt_acquisition(card);
#ifdef XFORMS
if (do_forms==1) {
fl_initialize (&argc, argv, NULL, 0, 0);
form_stats = create_form_stats_form();
if (UE_flag==1) {
form_ue[UE_id] = create_lte_phy_scope_ue();
sprintf (title, "LTE DL SCOPE UE");
fl_show_form (form_ue[UE_id]->lte_phy_scope_ue, FL_PLACE_HOTSPOT, FL_FULLBORDER, title);
} else {
for(UE_id=0;UE_id<scope_enb_num_ue;UE_id++) {
form_enb[UE_id] = create_lte_phy_scope_enb();
sprintf (title, "UE%d LTE UL SCOPE eNB",UE_id+1);
fl_show_form (form_enb[UE_id]->lte_phy_scope_enb, FL_PLACE_HOTSPOT, FL_FULLBORDER, title);
}
}
fl_show_form (form_stats->stats_form, FL_PLACE_HOTSPOT, FL_FULLBORDER, "stats");
if (UE_flag==0) {
for (UE_id=0;UE_id<scope_enb_num_ue;UE_id++) {
if (otg_enabled) {
fl_set_button(form_enb[UE_id]->button_0,1);
fl_set_object_label(form_enb[UE_id]->button_0,"DL Traffic ON");
}
else {
fl_set_button(form_enb[UE_id]->button_0,0);
fl_set_object_label(form_enb[UE_id]->button_0,"DL Traffic OFF");
}
}
}
else {
if (openair_daq_vars.use_ia_receiver) {
fl_set_button(form_ue[UE_id]->button_0,1);
fl_set_object_label(form_ue[UE_id]->button_0, "IA Receiver ON");
}
else {
fl_set_button(form_ue[UE_id]->button_0,0);
fl_set_object_label(form_ue[UE_id]->button_0, "IA Receiver OFF");
}
}
ret = pthread_create(&thread2, NULL, scope_thread, NULL);
printf("Scope thread created, ret=%d\n",ret);
}
#endif
#ifdef EMOS
ret = pthread_create(&thread3, NULL, emos_thread, NULL);
printf("EMOS thread created, ret=%d\n",ret);
#endif
rt_sleep_ns(10*FRAME_PERIOD);
#ifndef RTAI
pthread_attr_init (&attr_dlsch_threads);
pthread_attr_setstacksize(&attr_dlsch_threads,OPENAIR_THREAD_STACK_SIZE);
//attr_dlsch_threads.priority = 1;
sched_param_dlsch.sched_priority = sched_get_priority_max(SCHED_FIFO); //OPENAIR_THREAD_PRIORITY;
pthread_attr_setschedparam (&attr_dlsch_threads, &sched_param_dlsch);
pthread_attr_setschedpolicy (&attr_dlsch_threads, SCHED_FIFO);
#endif
// start the main thread
if (UE_flag == 1) {
/*
#ifdef RTAI
thread1 = rt_thread_create(UE_thread, NULL, 100000000);
#else
error_code = pthread_create(&thread1, &attr_dlsch_threads, UE_thread, NULL);
if (error_code!= 0) {
LOG_D(HW,"[lte-softmodem.c] Could not allocate UE_thread, error %d\n",error_code);
return(error_code);
}
else {
LOG_D(HW,"[lte-softmodem.c] Allocate UE_thread successful\n");
}
#endif
#ifdef DLSCH_THREAD
init_rx_pdsch_thread();
rt_sleep_ns(FRAME_PERIOD/10);
init_dlsch_threads();
#endif
printf("UE threads created\n");
*/
}
else {
#ifdef RTAI
thread0 = rt_thread_create(eNB_thread, NULL, 100000000);
#else
error_code = pthread_create(&thread0, &attr_dlsch_threads, eNB_thread, NULL);
if (error_code!= 0) {
LOG_D(HW,"[lte-softmodem.c] Could not allocate eNB_thread, error %d\n",error_code);
return(error_code);
}
else {
LOG_D(HW,"[lte-softmodem.c] Allocate eNB_thread successful\n");
}
#endif
#ifdef ULSCH_THREAD
init_ulsch_threads();
#endif
printf("eNB threads created\n");
}
// wait for end of program
printf("TYPE <CTRL-C> TO TERMINATE\n");
//getchar();
while (oai_exit==0)
rt_sleep_ns(FRAME_PERIOD);
// stop threads
#ifdef XFORMS
printf("waiting for XFORMS thread\n");
if (do_forms==1)
{
pthread_join(thread2,&status);
fl_hide_form(form_stats->stats_form);
fl_free_form(form_stats->stats_form);
if (UE_flag==1) {
fl_hide_form(form_ue[UE_id]->lte_phy_scope_ue);
fl_free_form(form_ue[UE_id]->lte_phy_scope_ue);
} else {
for(UE_id=0;UE_id<scope_enb_num_ue;UE_id++) {
fl_hide_form(form_enb[UE_id]->lte_phy_scope_enb);
fl_free_form(form_enb[UE_id]->lte_phy_scope_enb);
}
}
}
#endif
printf("stopping MODEM threads\n");
// cleanup
if (UE_flag == 1) {
/*
#ifdef RTAI
rt_thread_join(thread1);
#else
pthread_join(thread1,&status);
#endif
#ifdef DLSCH_THREAD
cleanup_dlsch_threads();
cleanup_rx_pdsch_thread();
#endif
*/
}
else {
#ifdef RTAI
rt_thread_join(thread0);
#else
pthread_join(thread0,&status);
#endif
#ifdef ULSCH_THREAD
cleanup_ulsch_threads();
#endif
}
#ifdef OPENAIR2
//cleanup_pdcp_thread();
#endif
#ifdef RTAI
stop_rt_timer();
#endif
printf("stopping card\n");
openair0_stop(card);
printf("closing openair0_lib\n");
openair0_close();
#ifdef EMOS
printf("waiting for EMOS thread\n");
pthread_cancel(thread3);
pthread_join(thread3,&status);
#endif
#ifdef EMOS
error_code = rtf_destroy(CHANSOUNDER_FIFO_MINOR);
printf("[OPENAIR][SCHED][CLEANUP] EMOS FIFO closed, error_code %d\n", error_code);
#endif
if (ouput_vcd)
vcd_signal_dumper_close();
logClean();
return 0;
}
int calc_grid_energies_excl_mgrid(float* atoms, float* grideners, long int numplane, long int numcol, long int numpt, long int natoms, float gridspacing, unsigned char* excludepos, int maxnumprocs) {
// cionize_params* params, cionize_molecule* molecule, cionize_grid* grid) {
int i;
enthrparms *parms;
rt_thread_t * threads;
#if defined(THR)
int numprocs;
int availprocs = rt_thread_numprocessors();
if (params->maxnumprocs <= availprocs) {
numprocs = params->maxnumprocs;
} else {
numprocs = availprocs;
}
#else
int numprocs = 1;
#endif
printf("calc_grid_energies_excl_mgrid()\n");
/* DH: setup and compute long-range */
MgridParam mg_prm;
MgridSystem mg_sys;
Mgrid mg;
//MgridLattice *lattice;
int j, k;
int gridfactor;
double h, h_1;
int nspacings;
double *eh;
int ndim;
int ii, jj, kk;
int im, jm, km;
int ilo, jlo, klo;
double dx_h, dy_h, dz_h;
double xphi[4], yphi[4], zphi[4];
double t, en, c;
int koff, jkoff, index;
rt_timerhandle timer;
float totaltime;
memset(&mg_prm, 0, sizeof(mg_prm));
memset(&mg_sys, 0, sizeof(mg_sys));
/*
* set mgrid parameters
*
* make sure origin of mgrid's grid is at ionize's grid origin (0,0,0)
*
* length is (number of grid spacings) * (grid spacing),
* where the number of spacings is one less than number of grid points
*/
mg_prm.length = (numpt-1) * gridspacing;
mg_prm.center.x = 0.5 * mg_prm.length;
mg_prm.center.y = 0.5 * mg_prm.length;
mg_prm.center.z = 0.5 * mg_prm.length;
/* make sure domain and grid are both cubic */
if (numpt != numcol || numcol != numplane) {
printf("ERROR: grid must be cubic\n");
return -1;
}
/*
* grid used by mgrid needs spacing h >= 2
*
* determine grid factor: (2^gridfactor)*h_ionize = h_mgrid
*/
gridfactor = 0;
//nspacings = numpt - 1;
nspacings = numpt;
/* add one more spacing so that interpolation loop below will work */
h = gridspacing;
while (h < 2.0) {
h *= 2;
nspacings = ((nspacings & 1) ? nspacings/2 + 1 : nspacings/2);
gridfactor++;
}
mg_prm.nspacings = nspacings;
/* have to modify mgrid length */
mg_prm.length += h;
mg_prm.center.x = 0.5 * mg_prm.length;
mg_prm.center.y = 0.5 * mg_prm.length;
mg_prm.center.z = 0.5 * mg_prm.length;
h_1 = 1.0/h;
mg_prm.cutoff = CUTOFF;
mg_prm.boundary = MGRID_NONPERIODIC;
/* choice of splitting must be consistent with short-range below */
#if defined(CUBIC_TAYLOR2)
mg_prm.approx = MGRID_CUBIC;
mg_prm.split = MGRID_TAYLOR2;
#elif defined(QUINTIC1_TAYLOR3)
mg_prm.approx = MGRID_QUINTIC1;
mg_prm.split = MGRID_TAYLOR3;
#elif defined(HEPTIC1_TAYLOR4)
mg_prm.approx = MGRID_HEPTIC1;
mg_prm.split = MGRID_TAYLOR4;
/*
#elif defined(HERMITE_TAYLOR3)
mg_prm.approx = MGRID_HERMITE;
mg_prm.split = MGRID_TAYLOR3;
*/
#endif
mg_prm.natoms = natoms;
printf("natom = %d\n", mg_prm.natoms);
printf("mgrid center = %g %g %g\n",
mg_prm.center.x, mg_prm.center.y, mg_prm.center.z);
printf("mgrid length = %g\n", mg_prm.length);
printf("mgrid nspacings = %d\n", mg_prm.nspacings);
/* setup mgrid system */
mg_sys.f_elec = (MD_Dvec *) calloc(mg_prm.natoms, sizeof(MD_Dvec));
mg_sys.pos = (MD_Dvec *) calloc(mg_prm.natoms, sizeof(MD_Dvec));
mg_sys.charge = (double *) calloc(mg_prm.natoms, sizeof(double));
for (i = 0; i < mg_prm.natoms; i++) {
mg_sys.pos[i].x = atoms[4*i ];
mg_sys.pos[i].y = atoms[4*i + 1];
mg_sys.pos[i].z = atoms[4*i + 2];
mg_sys.charge[i] = atoms[4*i + 3];
}
/* setup mgrid solver and compute */
if (mgrid_param_config(&mg_prm)) {
printf("ERROR: mgrid_param_config() failed\n");
return -1;
}
printf("spacing = %g\n", mg_prm.spacing);
if (mgrid_init(&mg)) {
printf("ERROR: mgrid_init() failed\n");
return -1;
}
if (mgrid_setup(&mg, &mg_sys, &mg_prm)) {
printf("ERROR: mgrid_setup() failed\n");
return -1;
}
timer = rt_timer_create();
rt_timer_start(timer);
if (mgrid_force(&mg, &mg_sys)) {
printf("ERROR: mgrid_force() failed\n");
return -1;
}
/* DH: end setup and compute long-range */
printf(" using %d processors\n", numprocs);
/* allocate array of threads */
threads = (rt_thread_t *) calloc(numprocs * sizeof(rt_thread_t), 1);
/* allocate and initialize array of thread parameters */
parms = (enthrparms *) malloc(numprocs * sizeof(enthrparms));
for (i=0; i<numprocs; i++) {
parms[i].threadid = i;
parms[i].threadcount = numprocs;
parms[i].atoms = atoms;
parms[i].grideners = grideners;
parms[i].numplane = numplane;
parms[i].numcol = numcol;
parms[i].numpt = numpt;
parms[i].natoms = natoms;
parms[i].gridspacing = gridspacing;
parms[i].excludepos = excludepos;
}
#if defined(THR)
/* spawn child threads to do the work */
for (i=0; i<numprocs; i++) {
rt_thread_create(&threads[i], energythread, &parms[i]);
}
/* join the threads after work is done */
for (i=0; i<numprocs; i++) {
rt_thread_join(threads[i], NULL);
}
#else
/* single thread does all of the work */
energythread((void *) &parms[0]);
#endif
/* DH: tabulate and cleanup long-range */
/* interpolate from mgrid potential lattice */
eh = (double *)(mg.egrid[0].data); /* mgrid's long-range potential lattice */
ndim = mg.egrid[0].ni; /* number of points in each dimension of lattice */
for (kk = 0; kk < numplane; kk++) {
for (jj = 0; jj < numcol; jj++) {
for (ii = 0; ii < numpt; ii++) {
/* distance between atom and corner measured in grid points */
dx_h = (ii*gridspacing) * h_1;
dy_h = (jj*gridspacing) * h_1;
dz_h = (kk*gridspacing) * h_1;
/* find closest mgrid lattice point less than or equal to */
im = ii >> gridfactor;
jm = jj >> gridfactor;
km = kk >> gridfactor;
#if defined(CUBIC_TAYLOR2)
ilo = im-1;
jlo = jm-1;
klo = km-1;
/* find t for x dimension and compute xphi */
t = dx_h - ilo;
xphi[0] = 0.5 * (1 - t) * (2 - t) * (2 - t);
t--;
xphi[1] = (1 - t) * (1 + t - 1.5 * t * t);
t--;
xphi[2] = (1 + t) * (1 - t - 1.5 * t * t);
t--;
xphi[3] = 0.5 * (1 + t) * (2 + t) * (2 + t);
/* find t for y dimension and compute yphi */
t = dy_h - jlo;
yphi[0] = 0.5 * (1 - t) * (2 - t) * (2 - t);
t--;
yphi[1] = (1 - t) * (1 + t - 1.5 * t * t);
t--;
yphi[2] = (1 + t) * (1 - t - 1.5 * t * t);
t--;
yphi[3] = 0.5 * (1 + t) * (2 + t) * (2 + t);
/* find t for z dimension and compute zphi */
t = dz_h - klo;
zphi[0] = 0.5 * (1 - t) * (2 - t) * (2 - t);
t--;
zphi[1] = (1 - t) * (1 + t - 1.5 * t * t);
t--;
zphi[2] = (1 + t) * (1 - t - 1.5 * t * t);
t--;
zphi[3] = 0.5 * (1 + t) * (2 + t) * (2 + t);
/* determine 64=4*4*4 eh grid stencil contribution to potential */
en = 0;
for (k = 0; k < 4; k++) {
koff = (k + klo) * ndim;
for (j = 0; j < 4; j++) {
jkoff = (koff + (j + jlo)) * ndim;
c = yphi[j] * zphi[k];
for (i = 0; i < 4; i++) {
index = jkoff + (i + ilo);
/*
ASSERT(&eh[index]
== mgrid_lattice_elem(&(mg.egrid[0]), i+ilo, j+jlo, k+klo));
*/
if (&eh[index] !=
mgrid_lattice_elem(&(mg.egrid[0]), i+ilo, j+jlo, k+klo)) {
printf("ndim=%d index=%d i+ilo=%d j+jlo=%d k+klo=%d\n"
"ia=%d ib=%d ni=%d\n"
"ja=%d jb=%d nj=%d\n"
"ka=%d kb=%d nk=%d\n",
ndim, index, i+ilo, j+jlo, k+klo,
mg.egrid[0].ia, mg.egrid[0].ib, mg.egrid[0].ni,
mg.egrid[0].ja, mg.egrid[0].jb, mg.egrid[0].nj,
mg.egrid[0].ka, mg.egrid[0].kb, mg.egrid[0].nk
);
abort();
}
en += eh[index] * xphi[i] * c;
}
}
}
/* end CUBIC */
#endif
//ENERGY(grid->eners[k*numcol*numpt + j*numpt + i]);
grideners[kk*numcol*numpt + jj*numpt + ii] += (float)en;
// (float) *((double *)mgrid_lattice_elem(lattice, i, j, k));
//ENERGY((float) *((double *)mgrid_lattice_elem(lattice, i, j, k)));
//ENERGY(grid->eners[k*numcol*numpt + j*numpt + i]*560.47254);
}
}
}
totaltime = rt_timer_timenow(timer);
printf("total time for mgrid: %.1f\n", totaltime);
rt_timer_destroy(timer);
/* cleanup mgrid */
mgrid_done(&mg);
free(mg_sys.f_elec);
free(mg_sys.pos);
free(mg_sys.charge);
/* DH: tabulate and cleanup long-range */
/* free thread parms */
free(parms);
free(threads);
return 0;
}
int main(int argc, char *argv[])
{
unsigned long sndnode;
long sndport, i, r;
RT_TASK *rcvtsk, *sndtsk;
struct sockaddr_in addr;
static MBX *sndmbx;
SERVER = atoi(argv[1]);
if (!(rcvtsk = rt_task_init_schmod(nam2num("RCVTSK"), 2, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT RECEIVER TASK\n");
exit(1);
}
mbx = rt_mbx_init(nam2num("MBX"), 100);
athread = rt_thread_create(async_fun, NULL, 10000);
sndnode = 0;
if (argc == 3 && strstr(argv[2], "SndNode=")) {
inet_aton(argv[2] + 8, &addr.sin_addr);
sndnode = addr.sin_addr.s_addr;
}
if (!sndnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
sndnode = addr.sin_addr.s_addr;
}
rt_set_oneshot_mode();
start_rt_timer(0);
while ((sndport = rt_request_port_mbx(sndnode, mbx)) <= 0 && sndport != -EINVAL);
while (!(sndmbx = RT_get_adr(sndnode, sndport, "SNDMBX"))) {
rt_sleep(nano2count(100000000));
}
sndtsk = RT_get_adr(sndnode, sndport, "SNDTSK");
printf("\nRECEIVER TASK RUNNING\n");
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
while (!end) {
r = RT_mbx_receive(sndnode, -sndport, sndmbx, &i, sizeof(long));
rt_printk("RECEIVE %ld %ld\n", r, i);
if (SERVER) {
rt_sleep(nano2count(100000000));
} else {
while (!end && rt_waiting_return(sndnode, sndport)) {
rt_sleep(nano2count(1000000));
}
if (!end) {
unsigned long long retval;
long i1, i2;
int l1, l2;
if (rt_sync_net_rpc(sndnode, -sndport)) {
l1 = l2 = sizeof(long);
rt_get_net_rpc_ret(mbx, &retval, &i1, &l1, &i2, &l2, 0LL, MBX_RECEIVE);
rt_printk("RECEIVER ASYNC MSG: RETVAL = %d, MSG = %ld, LEN = %d.\n", (int)retval, i1, l1);
if (i1 < 0) {
end = 1;
break;
}
}
}
}
}
rt_mbx_delete(mbx);
rt_release_port(sndnode, sndport);
rt_make_soft_real_time();
rt_thread_join(athread);
rt_return(rt_receive(0, &i), i);
rt_task_delete(rcvtsk);
stop_rt_timer();
printf("\nRECEIVER TASK STOPS\n");
return 0;
}
int main(int argc, char* argv[])
{
extern int init_cmdclk(void);
extern int init_cmdcrn(void);
extern int init_dispclk(void);
extern int cleanup_cmdclk(void);
extern int cleanup_cmdcrn(void);
extern int cleanup_dispclk(void);
RT_TASK *mytask;
hide = FALSE;
Pause = FALSE;
sem_init(&sync_sem, 0, 0);
rt_set_oneshot_mode();
init_cmdclk();
init_cmdcrn();
init_dispclk();
if (!(mytask = rt_task_init(nam2num("MASTER"), 1, 0, 0))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
printf("\nINIT MASTER TASK %p.\n", mytask);
OneUnit = nano2count(ONE_UNIT);
start_rt_timer(0);
if (!(Read = rt_thread_create(ClockChrono_Read, NULL, 10000))) {
printf("ERROR IN CREATING ClockChrono_Read\n");
exit(1);
}
if (!(Chrono = rt_thread_create(ClockChrono_Chrono, NULL, 10000))) {
printf("ERROR IN CREATING ClockChrono_Chrono\n");
exit(1);
}
if (!(Clock = rt_thread_create(ClockChrono_Clock, NULL, 10000))) {
printf("ERROR IN CREATING ClockChrono_Clock\n");
exit(1);
}
if (!(Write = rt_thread_create(ClockChrono_Write, NULL, 10000))) {
printf("ERROR IN CREATING ClockChrono_Write\n");
exit(1);
}
rt_task_suspend(mytask);
while (rt_get_adr(nam2num("READ"))) {
rt_sleep(nano2count(1000000));
}
while (rt_get_adr(nam2num("CLOCK"))) {
rt_sleep(nano2count(1000000));
}
while (rt_get_adr(nam2num("CHRONO"))) {
rt_sleep(nano2count(1000000));
}
while (rt_get_adr(nam2num("WRITE"))) {
rt_sleep(nano2count(1000000));
}
cleanup_cmdclk();
cleanup_cmdcrn();
cleanup_dispclk();
rt_thread_join(Chrono);
rt_thread_join(Clock);
rt_thread_join(Read);
rt_thread_join(Write);
sem_destroy(&sync_sem);
rt_task_delete(mytask);
printf("\nEND MASTER TASK %p.\n", mytask);
return 0;
}
void TestRTAI::runTest(double period)
{
std::cout << "TestRTAI::runTest: Method called!" << std::endl;
// Compute the period of the real-time servo loop.
rtPeriod_ns = period * 1e9;
long long const rtPeriod_us(rtPeriod_ns / 1000);
// Allow non-root user to use Linux POSIX soft real-time process management and
// memory lock functions.
// See: https://www.rtai.org/userfiles/documentation/magma/html/api/group__lxrt.html#ga74
rt_allow_nonroot_hrt();
// Change scheduler of this thread to be RTAI
std::cout << "TestRTAI::runTest: Switching to RTAI scheduler..." << std::endl;
normalTask = rt_task_init_schmod(
nam2num("MY_TASK"), // name
NON_REALTIME_PRIORITY, // priority
0, // stack_size
0, // max_msg_size
SCHED_FIFO, // scheduling policy
0xF // CPUs allowed
);
if (!normalTask)
throw std::runtime_error("rt_task_init_schmod failed for non-RT task");
rtThreadState = RT_THREAD_UNDEF;
// Spawn the real-time thread. The real-time thread executes call_rtMethod().
std::cout << "TestRTAI::runTest: Spawning RT thread..." << std::endl;
rtThreadID = rt_thread_create(
(void*)call_rtMethod, // method to call
this, // parameters
50000 // stack size
);
// Wait up to MAX_START_LATENCY_CYCLES for real-time thread to begin running
std::cout << "TestRTAI::runTest: Waiting for RT thread to run..." << std::endl;
for (int ii = 0; ii < MAX_START_LATENCY_CYCLES; ii++)
{
if (rtThreadState == RT_THREAD_RUNNING || rtThreadState == RT_THREAD_ERROR)
break;
usleep(rtPeriod_us);
}
if (rtThreadState != RT_THREAD_RUNNING)
{
std::stringstream ss;
ss << "TestRTAI::runTest: ERROR: Real-time thread not running, state is: ";
switch (rtThreadState)
{
case RT_THREAD_UNDEF: ss << "RT_THREAD_UNDEF"; break;
case RT_THREAD_INIT: ss << "RT_THREAD_INIT"; break;
case RT_THREAD_RUNNING: ss << "RT_THREAD_RUNNING"; break;
case RT_THREAD_CLEANUP: ss << "RT_THREAD_CLEANUP"; break;
case RT_THREAD_ERROR: ss << "RT_THREAD_ERROR"; break;
case RT_THREAD_DONE: ss << "RT_THREAD_DONE"; break;
default: ss << "Invalid state: " << rtThreadState;
}
std::cout << ss.str() << std::endl;
usleep(15 * rtPeriod_us);
rt_task_delete(normalTask);
rt_thread_join(rtThreadID); // blocks until the real-time thread exits.
throw std::runtime_error("TestRTAI::runTest: RT thread failed to start");
}
std::cout << "TestRTAI::runTest: OK - real-time thread started." << std::endl;
}
int main(void)
{
RTIME tsr, tss, tsm, trpc;
RT_TASK *mainbuddy;
int i, k, s;
unsigned long msg;
printf("\n\nWait for it ...\n");
if (!(mainbuddy = rt_thread_init(nam2num("MASTER"), 1000, 0, SCHED_FIFO, 0x1))) {
printf("CANNOT INIT TASK %lu\n", nam2num("MASTER"));
exit(1);
}
sem = rt_sem_init(nam2num("SEMAPH"), 1);
change = 0;
for (i = 0; i < NR_RT_TASKS; i++) {
indx[i] = i;
if (!(thread[i] = rt_thread_create(thread_fun, indx + i, 0))) {
printf("ERROR IN CREATING THREAD %d\n", indx[i]);
exit(1);
}
}
do {
msleep(50);
s = 0;
for (i = 0; i < NR_RT_TASKS; i++) {
s += hrt[i];
}
} while (s != NR_RT_TASKS);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
tsr = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_task_resume(mytask[k]);
}
}
tsr = rt_get_cpu_time_ns() - tsr;
change = 1;
for (k = 0; k < NR_RT_TASKS; k++) {
rt_task_resume(mytask[k]);
}
tss = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_sem_signal(sem);
}
}
tss = rt_get_cpu_time_ns() - tss;
change = 2;
for (k = 0; k < NR_RT_TASKS; k++) {
rt_sem_signal(sem);
}
tsm = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_send(mytask[k], 0);
}
}
tsm = rt_get_cpu_time_ns() - tsm;
change = 3;
for (k = 0; k < NR_RT_TASKS; k++) {
rt_send(mytask[k], 0);
}
trpc = rt_get_cpu_time_ns();
for (i = 0; i < LOOPS; i++) {
for (k = 0; k < NR_RT_TASKS; k++) {
rt_rpc(mytask[k], 0, &msg);
}
}
trpc = rt_get_cpu_time_ns() - trpc;
rt_make_soft_real_time();
printf("\n\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), SUSP/RES SWITCHES %d, ", (int)(tsr/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n", (int)(tsr/(2*NR_RT_TASKS*LOOPS)));
printf("\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), SEM SIG/WAIT SWITCHES %d, ", (int)(tss/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n", (int)(tss/(2*NR_RT_TASKS*LOOPS)));
printf("\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), SEND/RCV SWITCHES %d, ", (int)(tsm/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n", (int)(tsm/(2*NR_RT_TASKS*LOOPS)));
printf("\nFOR %d TASKS: ", NR_RT_TASKS);
printf("TIME %d (ms), RPC/RCV-RET SWITCHES %d, ", (int)(tsm/1000000), 2*NR_RT_TASKS*LOOPS);
printf("SWITCH TIME %d (ns)\n\n", (int)(trpc/(2*NR_RT_TASKS*LOOPS)));
fflush(stdout);
end = 1;
for (i = 0; i < NR_RT_TASKS; i++) {
rt_rpc(mytask[i], 0, &msg);
}
do {
msleep(50);
s = 0;
for (i = 0; i < NR_RT_TASKS; i++) {
s += hrt[i];
}
} while (s);
rt_sem_delete(sem);
rt_task_delete(mainbuddy);
for (i = 0; i < NR_RT_TASKS; i++) {
rt_thread_join(thread[i]);
}
return 0;
}
