int main(void)
{
RT_TASK *maint;
MSG msg = { 0, 0 };
maint = rt_task_init(nam2num("MAIN"), 99, 0, 0);
bx = rt_tbx_init(nam2num("BX"), TBXSIZE, ORDER);
start_rt_timer(nano2count(TIMEBASE));
pthread_create(&pt1, NULL, Task1, NULL);
pthread_create(&pt2, NULL, Task2, NULL);
pthread_create(&pt3, NULL, Task3, NULL);
pthread_create(&pt4, NULL, Task4, NULL);
pthread_create(&pt5, NULL, Task5, NULL);
pthread_create(&pt6, NULL, Task6, NULL);
pthread_create(&pt7, NULL, Task7, NULL);
printf("\ntasks started\n");
pthread_join(pt1, NULL);
pthread_join(pt4, NULL);
pthread_join(pt7, NULL);
endall = 1;
rt_tbx_broadcast(bx, (char*)&msg, sizeof(msg));
pthread_join(pt2, NULL);
pthread_join(pt3, NULL);
pthread_join(pt5, NULL);
pthread_join(pt6, NULL);
rt_tbx_delete(bx);
rt_task_delete(maint);
stop_rt_timer();
printf("\n\nEND\n\n");
return 0;
}
TBX* __rt_tbx_init(int size, int flags)
{
TBX * tbx;
tbx = rt_malloc(sizeof(TBX));
if(tbx == 0)
return 0;
memset(tbx,0,sizeof(TBX));
rt_tbx_init(tbx,size,flags);
return tbx;
}
int init_module(void)
{
rt_task_init(&t1, Task1, 0, 2000, BASE_PRIO, 0, 0);
rt_task_init(&t2, Task2, 0, 2000, BASE_PRIO, 0, 0);
rt_task_init(&t3, Task3, 0, 2000, BASE_PRIO, 0, 0);
rt_task_init(&t4, Task4, 0, 2000, BASE_PRIO, 0, 0);
rt_task_init(&t5, Task5, 0, 2000, BASE_PRIO, 0, 0);
rt_task_init(&t6, Task6, 0, 2000, BASE_PRIO, 0, 0);
rt_task_init(&t7, Task7, 0, 2000, BASE_PRIO - 1, 0, 0); //urgent messages
rt_tbx_init(&bx, TBXSIZE, ORDER);
start_rt_timer(nano2count(TIMEBASE));
rt_task_resume(&t1);
rt_task_resume(&t2);
rt_task_resume(&t3);
rt_task_resume(&t4);
rt_task_resume(&t5);
rt_task_resume(&t6);
rt_task_resume(&t7);
rt_printk("\ntasks started\n");
return 0;
}