static void test_tcp_server(void)
{
int re;
int sd;
int reader = 0;
char buf[5];
struct sockaddr_in sa;
struct sockaddr_in sa2;
socklen_t sa_len;
printf("[tcp(server)] start\n");
sd = so_socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if ( sd < 0 ) {
goto error;
}
DEBUG_PRINT(("server_task: so_socket = %d(%d, %d)\n", sd, MERCD(sd), SERCD(sd)));
bzero(&sa, sizeof sa);
sa.sin_family = AF_INET;
sa.sin_addr.s_addr = htonl(INADDR_ANY);
sa.sin_port = htons(12345);
re = so_bind(sd, (struct sockaddr*)&sa, sizeof sa);
DEBUG_PRINT(("server_task: so_bind = %d(%d, %d)\n", re, MERCD(re), SERCD(re)));
if ( re < 0 ) {
goto error;
}
re = so_listen(sd, 5);
DEBUG_PRINT(("server_task: so_listen = %d(%d, %d)\n", re, MERCD(re), SERCD(re)));
if ( re < 0 ) {
goto error;
}
tk_sig_sem(semid, 1);
DEBUG_PRINT(("server_task: server semaphore signaled 1\n"));
reader = so_accept(sd, (struct sockaddr*)&sa2, &sa_len);
DEBUG_PRINT(("server_task: so_accept = %d(%d, %d)\n", reader, MERCD(reader), SERCD(reader)));
if ( reader < 0 ) {
goto error;
}
wait_data(reader);
bzero(buf, sizeof buf);
re = so_sockatmark(reader);
DEBUG_PRINT(("server_task: so_sockatmark = %d(%d, %d)\n", re, MERCD(re), SERCD(re)));
if ( re < 0 ) {
goto error;
}
re = so_read(reader, buf, 4);
DEBUG_PRINT(("server_task: so_read = %d(%d, %d), buf = %s\n", re, MERCD(re), SERCD(re), buf));
if ( re < 0 || memcmp(buf, "1234", 4) != 0 ) {
goto error;
}
wait_data(reader);
bzero(buf, sizeof buf);
re = so_sockatmark(reader);
DEBUG_PRINT(("server_task: so_sockatmark = %d(%d, %d)\n", re, MERCD(re), SERCD(re)));
if ( re < 0 ) {
goto error;
}
re = so_recv(reader, buf, 4, MSG_OOB);
DEBUG_PRINT(("server_task: so_recv = %d(%d, %d), buf = %s\n", re, MERCD(re), SERCD(re), buf));
if ( re < 0 || buf[0] != 'a' ) {
goto error;
}
tk_sig_sem(semid2, 1);
DEBUG_PRINT(("server_task: server semaphore for break signaled 2\n"));
DEBUG_PRINT(("server_task: pre-accept for break\n"));
re = so_accept(sd, (struct sockaddr*)&sa2, &sa_len);
DEBUG_PRINT(("server_task: so_accept = %d(%d, %d)\n", re, MERCD(re), SERCD(re)));
if ( re != EX_INTR ) {
goto error;
}
so_close(reader);
so_close(sd);
printf("[tcp(server)] OK\n");
return;
error:
printf("[tcp(server)] FAILED\n");
if ( sd > 0 ) {
so_close(sd);
}
if ( reader > 0 ) {
so_close(reader);
}
tk_del_sem(semid2);
return;
}
/*
* メインタスク
*/
void main_task(intptr_t exinf)
{
char c;
ID tskid = TASK1;
int_t tskno = 1;
ER_UINT ercd;
PRI tskpri;
#ifndef TASK_LOOP
volatile ulong_t i;
SYSTIM stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
SYSUTM utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */
T_CTSK ctsk;
T_DTEX dtex;
ID TASK3 = -1;
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/*
* シリアルポートの初期化
*
* システムログタスクと同じシリアルポートを使う場合など，シリアル
* ポートがオープン済みの場合にはここでE_OBJエラーになるが，支障は
* ない．
*/
ercd = serial_opn_por(TASK_PORTID);
if (ercd < 0 && MERCD(ercd) != E_OBJ) {
syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
itron_strerror(ercd), SERCD(ercd));
}
SVC_PERROR(serial_ctl_por(TASK_PORTID,
(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
/*
* ループ回数の設定
*
* 並行実行されるタスク内での空ループの回数（task_loop）は，空ルー
* プの実行時間が約0.4秒になるように設定する．この設定のために，
* LOOP_REF回の空ループの実行時間を，その前後でget_timを呼ぶことで
* 測定し，その測定結果から空ループの実行時間が0.4秒になるループ回
* 数を求め，task_loopに設定する．
*
* LOOP_REFは，デフォルトでは1,000,000に設定しているが，想定したよ
* り遅いプロセッサでは，サンプルプログラムの実行開始に時間がかか
* りすぎるという問題を生じる．逆に想定したより速いプロセッサでは，
* LOOP_REF回の空ループの実行時間が短くなり，task_loopに設定する値
* の誤差が大きくなるという問題がある．
*
* そこで，そのようなターゲットでは，target_test.hで，LOOP_REFを適
* 切な値に定義するのが望ましい．
*
* また，task_loopの値を固定したい場合には，その値をTASK_LOOPにマ
* クロ定義する．TASK_LOOPがマクロ定義されている場合，上記の測定を
* 行わずに，TASK_LOOPに定義された値を空ループの回数とする．
*
* ターゲットによっては，空ループの実行時間の1回目の測定で，本来よ
* りも長めになるものがある．このようなターゲットでは，MEASURE_TWICE
* をマクロ定義することで，1回目の測定結果を捨てて，2回目の測定結果
* を使う．
*
* タスク例外処理ルーチン内での空ループの回数（tex_loop）は，
* task_loopの4分の1の値（空ループの実行時間が0.1秒になるループ回
* 数）に設定する．
*/
#ifdef TASK_LOOP
task_loop = TASK_LOOP;
#else /* TASK_LOOP */
#ifdef MEASURE_TWICE
task_loop = LOOP_REF;
SVC_PERROR(get_tim(&stime1));
for (i = 0; i < task_loop; i++);
SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */
task_loop = LOOP_REF;
SVC_PERROR(get_tim(&stime1));
for (i = 0; i < task_loop; i++);
SVC_PERROR(get_tim(&stime2));
task_loop = LOOP_REF * 400UL / (stime2 - stime1);
#endif /* TASK_LOOP */
tex_loop = task_loop / 4;
/*
* タスクの起動
*/
SVC_PERROR(act_tsk(TASK1));
SVC_PERROR(act_tsk(TASK2));
/*
* メインループ
*/
do {
SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
switch (c) {
case 'e':
case 's':
case 'S':
case 'd':
case 'y':
case 'Y':
case 'z':
case 'Z':
message[tskno-1] = c;
break;
case '1':
tskno = 1;
tskid = TASK1;
break;
case '2':
tskno = 2;
tskid = TASK2;
break;
case '3':
tskno = 3;
tskid = TASK3;
break;
case 'a':
syslog(LOG_INFO, "#act_tsk(%d)", tskno);
SVC_PERROR(act_tsk(tskid));
break;
case 'A':
syslog(LOG_INFO, "#can_act(%d)", tskno);
SVC_PERROR(ercd = can_act(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
}
break;
case 't':
syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
SVC_PERROR(ter_tsk(tskid));
break;
case '>':
syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
break;
case '=':
syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
break;
case '<':
syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
break;
case 'G':
syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
SVC_PERROR(ercd = get_pri(tskid, &tskpri));
if (ercd >= 0) {
syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
}
break;
case 'w':
syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
SVC_PERROR(wup_tsk(tskid));
break;
case 'W':
syslog(LOG_INFO, "#can_wup(%d)", tskno);
SVC_PERROR(ercd = can_wup(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
}
break;
case 'l':
syslog(LOG_INFO, "#rel_wai(%d)", tskno);
SVC_PERROR(rel_wai(tskid));
break;
case 'u':
syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
SVC_PERROR(sus_tsk(tskid));
break;
case 'm':
syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
SVC_PERROR(rsm_tsk(tskid));
break;
case 'x':
syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
SVC_PERROR(ras_tex(tskid, 0x0001U));
break;
case 'X':
syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
SVC_PERROR(ras_tex(tskid, 0x0002U));
break;
case 'r':
syslog(LOG_INFO, "#rot_rdq(three priorities)");
SVC_PERROR(rot_rdq(HIGH_PRIORITY));
SVC_PERROR(rot_rdq(MID_PRIORITY));
SVC_PERROR(rot_rdq(LOW_PRIORITY));
break;
case 'c':
syslog(LOG_INFO, "#sta_cyc(1)");
SVC_PERROR(sta_cyc(CYCHDR1));
break;
case 'C':
syslog(LOG_INFO, "#stp_cyc(1)");
SVC_PERROR(stp_cyc(CYCHDR1));
break;
case 'b':
syslog(LOG_INFO, "#sta_alm(1, 5000)");
SVC_PERROR(sta_alm(ALMHDR1, 5000));
break;
case 'B':
syslog(LOG_INFO, "#stp_alm(1)");
SVC_PERROR(stp_alm(ALMHDR1));
break;
case '@':
ctsk.tskatr = TA_NULL;
ctsk.exinf = 3;
ctsk.task = task;
ctsk.itskpri = MID_PRIORITY;
ctsk.stksz = STACK_SIZE;
ctsk.stk = NULL;
SVC_PERROR(TASK3 = acre_tsk(&ctsk));
dtex.texatr = TA_NULL;
dtex.texrtn = tex_routine;
SVC_PERROR(def_tex(TASK3, &dtex));
syslog(LOG_NOTICE, "task3 is created with tskid = %d.",
(int_t) TASK3);
break;
case '!':
syslog(LOG_INFO, "#del_tsk(%d)", tskno);
SVC_PERROR(del_tsk(tskid));
break;
case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
SVC_PERROR(get_utm(&utime1));
SVC_PERROR(get_utm(&utime2));
syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
(ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
break;
case 'v':
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
LOG_UPTO(LOG_EMERG)));
break;
case 'q':
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
LOG_UPTO(LOG_EMERG)));
break;
#ifdef BIT_KERNEL
case ' ':
SVC_PERROR(loc_cpu());
{
extern ER bit_kernel(void);
SVC_PERROR(ercd = bit_kernel());
if (ercd >= 0) {
syslog(LOG_NOTICE, "bit_kernel passed.");
}
}
SVC_PERROR(unl_cpu());
break;
#endif /* BIT_KERNEL */
case '$':
syslog(LOG_INFO, "#%d#twai_sem(10000)", tskno);
SVC_PERROR(twai_sem(TEST_SEM, 10000));
break;
default:
break;
}
} while (c != '\003' && c != 'Q');
syslog(LOG_NOTICE, "Sample program ends.");
SVC_PERROR(ext_ker());
assert(0);
}
/*
* main task
*/
void main_task(intptr_t exinf)
{
char_t c;
ID tskid = TASK1;
int_t tskno = 1;
ER_UINT ercd;
PRI tskpri;
#ifndef TASK_LOOP
volatile ulong_t i;
SYSTIM stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
SYSUTM utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/*
* initialize the serial port
*
* If the same serial port is shared between main task and system
* log task. As this serial port is already opened in system log
* task, serial_opn_por will return E_OBJ which is not a real
* error.
*/
ercd = serial_opn_por(TASK_PORTID);
if (ercd < 0 && MERCD(ercd) != E_OBJ) {
syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
itron_strerror(ercd), SERCD(ercd));
}
SVC_PERROR(serial_ctl_por(TASK_PORTID,
(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
/*
* adjustment of task_loop.
*
* If TASK_LOOP is defined, the adjustment of task_loop will not be
* done.
*
* If MEASURE_TWICE is defined, 2 measurements are made. The 2nd
* result is adopted as the 1st is a little longer than the 2nd.
*/
#ifdef TASK_LOOP
task_loop = TASK_LOOP;
#else /* TASK_LOOP */
#ifdef MEASURE_TWICE
task_loop = LOOP_REF;
SVC_PERROR(get_tim(&stime1));
for (i = 0; i < task_loop; i++);
SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */
task_loop = LOOP_REF;
SVC_PERROR(get_tim(&stime1));
for (i = 0; i < task_loop; i++);
SVC_PERROR(get_tim(&stime2));
task_loop = LOOP_REF * 400UL / (stime2 - stime1);
#endif /* TASK_LOOP */
tex_loop = task_loop / 5;
/*
* activate the target tasks
*/
SVC_PERROR(act_tsk(TASK1));
SVC_PERROR(act_tsk(TASK2));
SVC_PERROR(act_tsk(TASK3));
/*
* main loop
*/
do {
SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
switch (c) {
case 'e':
case 's':
case 'S':
case 'd':
case 'y':
case 'Y':
case 'z':
case 'Z':
message[tskno-1] = c;
break;
case '1':
tskno = 1;
tskid = TASK1;
break;
case '2':
tskno = 2;
tskid = TASK2;
break;
case '3':
tskno = 3;
tskid = TASK3;
break;
case 'a':
syslog(LOG_INFO, "#act_tsk(%d)", tskno);
SVC_PERROR(act_tsk(tskid));
break;
case 'A':
syslog(LOG_INFO, "#can_act(%d)", tskno);
SVC_PERROR(ercd = can_act(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
}
break;
case 't':
syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
SVC_PERROR(ter_tsk(tskid));
break;
case '>':
syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
break;
case '=':
syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
break;
case '<':
syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
break;
case 'G':
syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
SVC_PERROR(ercd = get_pri(tskid, &tskpri));
if (ercd >= 0) {
syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
}
break;
case 'w':
syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
SVC_PERROR(wup_tsk(tskid));
break;
case 'W':
syslog(LOG_INFO, "#can_wup(%d)", tskno);
SVC_PERROR(ercd = can_wup(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
}
break;
case 'l':
syslog(LOG_INFO, "#rel_wai(%d)", tskno);
SVC_PERROR(rel_wai(tskid));
break;
case 'u':
syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
SVC_PERROR(sus_tsk(tskid));
break;
case 'm':
syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
SVC_PERROR(rsm_tsk(tskid));
break;
case 'x':
syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
SVC_PERROR(ras_tex(tskid, 0x0001U));
break;
case 'X':
syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
SVC_PERROR(ras_tex(tskid, 0x0002U));
break;
case 'r':
syslog(LOG_INFO, "#rot_rdq(three priorities)");
SVC_PERROR(rot_rdq(HIGH_PRIORITY));
SVC_PERROR(rot_rdq(MID_PRIORITY));
SVC_PERROR(rot_rdq(LOW_PRIORITY));
break;
case 'c':
syslog(LOG_INFO, "#sta_cyc(1)");
SVC_PERROR(sta_cyc(CYCHDR1));
break;
case 'C':
syslog(LOG_INFO, "#stp_cyc(1)");
SVC_PERROR(stp_cyc(CYCHDR1));
break;
case 'b':
syslog(LOG_INFO, "#sta_alm(1, 5000)");
SVC_PERROR(sta_alm(ALMHDR1, 5000));
break;
case 'B':
syslog(LOG_INFO, "#stp_alm(1)");
SVC_PERROR(stp_alm(ALMHDR1));
break;
case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
SVC_PERROR(get_utm(&utime1));
SVC_PERROR(get_utm(&utime2));
syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
(ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
break;
case 'v':
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
LOG_UPTO(LOG_EMERG)));
break;
case 'q':
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
LOG_UPTO(LOG_EMERG)));
break;
#ifdef BIT_KERNEL
case ' ':
SVC_PERROR(loc_cpu());
{
extern ER bit_kernel(void);
SVC_PERROR(ercd = bit_kernel());
if (ercd >= 0) {
syslog(LOG_NOTICE, "bit_kernel passed.");
}
}
SVC_PERROR(unl_cpu());
break;
#endif /* BIT_KERNEL */
default:
break;
}
} while (c != '\003' && c != 'Q');
syslog(LOG_NOTICE, "Sample program ends.");
SVC_PERROR(ext_ker());
assert(0);
}
/*
* メインタスク
*/
void main_task(intptr_t exinf)
{
char_t c;
ID tskid = TASK1;
int_t tskno = 1;
ER_UINT ercd;
PRI tskpri;
#ifndef TASK_LOOP
volatile ulong_t i;
SYSTIM stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
SYSUTM utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/*
* シリアルポートの初期化
*
* システムログタスクと同じシリアルポートを使う場合など，シリアル
* ポートがオープン済みの場合にはここでE_OBJエラーになるが，支障は
* ない．
*/
ercd = serial_opn_por(TASK_PORTID);
if (ercd < 0 && MERCD(ercd) != E_OBJ) {
syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
itron_strerror(ercd), SERCD(ercd));
}
SVC_PERROR(serial_ctl_por(TASK_PORTID,
(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
/*
* ループ回数の設定
*
* TASK_LOOPがマクロ定義されている場合，測定せずに，TASK_LOOPに定
* 義された値を，タスク内でのループ回数とする．
*
* MEASURE_TWICEがマクロ定義されている場合，1回目の測定結果を捨て
* て，2回目の測定結果を使う．1回目の測定は長めの時間が出るため．
*/
#ifdef TASK_LOOP
task_loop = TASK_LOOP;
#else /* TASK_LOOP */
#ifdef MEASURE_TWICE
task_loop = LOOP_REF;
SVC_PERROR(get_tim(&stime1));
for (i = 0; i < task_loop; i++);
SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */
task_loop = LOOP_REF;
SVC_PERROR(get_tim(&stime1));
for (i = 0; i < task_loop; i++);
SVC_PERROR(get_tim(&stime2));
task_loop = LOOP_REF * 400UL / (stime2 - stime1);
#endif /* TASK_LOOP */
tex_loop = task_loop / 5;
/*
* タスクの起動
*/
SVC_PERROR(act_tsk(TASK1));
SVC_PERROR(act_tsk(TASK2));
SVC_PERROR(act_tsk(TASK3));
/*
* メインループ
*/
do {
SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
switch (c) {
case 'e':
case 's':
case 'S':
case 'd':
case 'y':
case 'Y':
case 'z':
case 'Z':
message[tskno-1] = c;
break;
case '1':
tskno = 1;
tskid = TASK1;
break;
case '2':
tskno = 2;
tskid = TASK2;
break;
case '3':
tskno = 3;
tskid = TASK3;
break;
case 'a':
syslog(LOG_INFO, "#act_tsk(%d)", tskno);
SVC_PERROR(act_tsk(tskid));
break;
case 'A':
syslog(LOG_INFO, "#can_act(%d)", tskno);
SVC_PERROR(ercd = can_act(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
}
break;
case 't':
syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
SVC_PERROR(ter_tsk(tskid));
break;
case '>':
syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
break;
case '=':
syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
break;
case '<':
syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
break;
case 'G':
syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
SVC_PERROR(ercd = get_pri(tskid, &tskpri));
if (ercd >= 0) {
syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
}
break;
case 'w':
syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
SVC_PERROR(wup_tsk(tskid));
break;
case 'W':
syslog(LOG_INFO, "#can_wup(%d)", tskno);
SVC_PERROR(ercd = can_wup(tskid));
if (ercd >= 0) {
syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
}
break;
case 'l':
syslog(LOG_INFO, "#rel_wai(%d)", tskno);
SVC_PERROR(rel_wai(tskid));
break;
case 'u':
syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
SVC_PERROR(sus_tsk(tskid));
break;
case 'm':
syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
SVC_PERROR(rsm_tsk(tskid));
break;
case 'x':
syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
SVC_PERROR(ras_tex(tskid, 0x0001U));
break;
case 'X':
syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
SVC_PERROR(ras_tex(tskid, 0x0002U));
break;
case 'r':
syslog(LOG_INFO, "#rot_rdq(three priorities)");
SVC_PERROR(rot_rdq(HIGH_PRIORITY));
SVC_PERROR(rot_rdq(MID_PRIORITY));
SVC_PERROR(rot_rdq(LOW_PRIORITY));
break;
case 'c':
syslog(LOG_INFO, "#sta_cyc(1)");
SVC_PERROR(sta_cyc(CYCHDR1));
break;
case 'C':
syslog(LOG_INFO, "#stp_cyc(1)");
SVC_PERROR(stp_cyc(CYCHDR1));
break;
case 'b':
syslog(LOG_INFO, "#sta_alm(1, 5000)");
SVC_PERROR(sta_alm(ALMHDR1, 5000));
break;
case 'B':
syslog(LOG_INFO, "#stp_alm(1)");
SVC_PERROR(stp_alm(ALMHDR1));
break;
case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
SVC_PERROR(get_utm(&utime1));
SVC_PERROR(get_utm(&utime2));
syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
(ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
break;
case 'v':
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
LOG_UPTO(LOG_EMERG)));
break;
case 'q':
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
LOG_UPTO(LOG_EMERG)));
break;
#ifdef BIT_KERNEL
case ' ':
SVC_PERROR(loc_cpu());
{
extern ER bit_kernel(void);
SVC_PERROR(ercd = bit_kernel());
if (ercd >= 0) {
syslog(LOG_NOTICE, "bit_kernel passed.");
}
}
SVC_PERROR(unl_cpu());
break;
#endif /* BIT_KERNEL */
default:
break;
}
} while (c != '\003' && c != 'Q');
syslog(LOG_NOTICE, "Sample program ends.");
SVC_PERROR(ext_ker());
assert(0);
}
void ev3_main_task(intptr_t exinf) {
ER_UINT ercd;
// Pause application at first
platform_pause_application(true);
/**
* Initialize FatFS
*/
initialize_fatfs_dri();
/**
* Load configurations
*/
ev3rt_load_configuration();
/**
* Initialize LCD
*/
initialize_lcd_dri();
/**
* Initialize EV3RT console and open its SIO port.
*/
initialize_console_dri();
ercd = serial_opn_por(SIO_PORT_LCD);
if (ercd < 0 && MERCD(ercd) != E_OBJ) {
syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
itron_strerror(ercd), SERCD(ercd));
}
SVC_PERROR(serial_ctl_por(SIO_PORT_LCD, IOCTL_NULL));
platform_pause_application(false);
is_initialized = false;
// syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/**
* Initialize all drivers
*/
for(uint32_t i = 0; i < tnum_drivers; ++i)
if (drivers[i].init_func != NULL) drivers[i].init_func(0);
platform_soft_reset();
// Banner
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, " _____ ______ ___ ______");
syslog(LOG_NOTICE, " / __/ | / /_ // _ \/_ __/");
syslog(LOG_NOTICE, " / _/ | |/ //_ </ , _/ / /");
syslog(LOG_NOTICE, "/___/ |___/____/_/|_| /_/");
syslog(LOG_NOTICE, "=============================");
syslog(LOG_NOTICE, "Powered by TOPPERS/HRP2 RTOS");
syslog(LOG_NOTICE, "Initialization is completed..");
platform_pause_application(true);
is_initialized = true;
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
#if 0 // Legacy code
initialize_analog_dri();
initialize_uart_dri();
initialize_motor_dri();
initialize_sound_dri();
initialize_fatfs_dri();
// initialize_ev3();
// syslog(LOG_ERROR, "TEST ZMODEM");
// uint8_t c;
// while(1) {
// serial_rea_dat(SIO_PORT_UART, &c, 1);
// ER ercd;
// switch (c) {
// case 'r':
// ercd = zmodem_recv_file(app_text_mempool, sizeof(app_text_mempool));
// syslog(LOG_ERROR, "ZMODEM ercd = %d.", ercd);
// break;
// default:
// syslog(LOG_ERROR, "Key %c pressed.", c);
// }
// }
//EV3::ev3 = new EV3::EV3();
//#define TEST_ANALOG_SENSOR
//
//#ifdef TEST_ANALOG_SENSOR
// while(1) {
// /*
// * Debug Analog Port 2
// */
// int sv = analog_get_short(1);
// printk("Sensor PIN1: %d\n", sv);
// printk("Sensor PIN6: %d\n", analog_get_short_pin6(1));
//
// GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
// target_fput_log('H');
// target_fput_log('E');
// target_fput_log('R');
// target_fput_log('E');
// target_fput_log('\n');
// tslp_tsk(1000);
// }
//#endif
//#ifdef TEST_UART
// //init_pwm();
// //ev3_motor_set_speed(PortA, 50);
// //tslp_tsk(3000);
// //ev3_motor_brake(PortA, true);
// init_uart();
// while(1) {
// /*
// * Debug UART Port 2
// */
// int sv = uart_get_short(1);
// printk("Sensor value: %d\n", sv);
//
// GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
// target_fput_log('H');
// target_fput_log('E');
// target_fput_log('R');
// target_fput_log('E');
// target_fput_log('\n');
// tslp_tsk(1000);
// }
//#endif
#endif
}
