void demo(void *arg)
{
//Round Robin
rt_task_set_mode(0,T_RRB,NULL);
rt_task_slice(NULL,15); //time slice in jiffies
RTIME starttime, runtime;
int num=*(int *)arg;
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
rt_printf("Task : %d\n",num);
rt_sem_p(&mysync,TM_INFINITE);
// let the task run RUNTIME(=200) jiffies in steps of SPINTIME(=20) jiffies
runtime = 0;
while(runtime < EXECTIME) {
rt_timer_spin(SPINTIME*BASEPERIOD); // spin cpu doing nothing
// note: rt_timer_spin function does not accept jiffies only nanoseconds
// deviates from timing conventions throughout the Xenomai API
runtime = runtime + SPINTIME;
rt_printf("Running Task : %d at time : %d\n",num,runtime);
}
rt_printf("End Task : %d\n",num);
}
void busy_wait_ms(unsigned long delay){
unsigned long count = 0;
while (count <= delay*10){
rt_timer_spin(1000*100);
count++;
}
}
void prioHigh(void *arg){
int err = 0;
rt_task_sleep(WAIT);
int i = 0;
while(i<3) {
rt_printf("High priority task tries to lock semaphore\n");
err = rt_sem_p(&mysync,TM_INFINITE);
if(err < 0) rt_printf("Failed pending semaphore; error: %d: %s", err, strerror(-err));
err = 0;
rt_printf("High priority task locks semaphore\n");
rt_timer_spin(SPINTIME); // spin cpu doing nothing
i++;
rt_printf("High priority task unlocks semaphore\n");
err = rt_sem_v(&mysync);
if(err < 0) rt_printf("Failed signaling semaphore; error: %d: %s", err, strerror(-err));
err = 0;
}
rt_printf("..........................................High priority task ends\n");
}
void demo(void *arg)
{
RTIME starttime, runtime;
int num=*(int *)arg;
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
curtask=rt_task_self();
rt_printf("Task : %d\n",num);
rt_sem_p(&mysync,TM_INFINITE);
runtime = 0;
while(runtime < EXECTIME) {
rt_timer_spin(SPINTIME); // spin cpu doing nothing
runtime = runtime + SPINTIME;
rt_printf("Running Task : %d at ms : %d\n",num,runtime/1000000);
if(runtime == (EXECTIME/2)){
if(num == 2){
rt_task_set_priority(&demo_task[1],MID+10);
rt_task_set_priority(&demo_task[0],LOW+10);
}
}
}
rt_printf("End Task : %d\n",num);
}
void dummy_task(void *arg) {
while(1) { rt_printf("Sleeping\n");
rt_task_sleep(2e9);
rt_printf("Spinning\n");
rt_timer_spin(3e9);
}
}
void RT::OS::sleepTimestep(RT::OS::Task task)
{
xenomai_task_t *t = reinterpret_cast<xenomai_task_t *>(task);
// Prevent significant early wake up from happening and drying the Linux system
rt_task_sleep_until(t->next_t - t->wakeup_t);
// Busy sleep until ready for the next cycle
rt_timer_spin(rt_timer_ticks2ns(t->next_t - rt_timer_read()));
// Update next interrupt time
t->next_t += t->period;
}
void prioMid(void *arg){
RTIME runtime;
rt_task_sleep(WAIT);
runtime = 0;
while(runtime < EXECTIMEMID) {
rt_timer_spin(SPINTIME); // spin cpu doing nothing
runtime = runtime + SPINTIME;
rt_printf("Medium task running\n");
}
rt_printf("..........................................Medium priority task ends\n");
}
void demo(void *arg)
{
RTIME starttime, runtime;
int num=*(int *)arg;
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
rt_printf("Task : %d\n",num);
rt_sem_p(&mysync,TM_INFINITE);
runtime = 0;
while(runtime < EXECTIME) {
rt_timer_spin(SPINTIME); // spin cpu doing nothing
runtime = runtime + SPINTIME;
rt_printf("Running Task : %d at ms : %d\n",num,runtime/1000000);
}
rt_printf("End Task : %d\n",num);
}
void prioLow(void *arg)
{
int err = 0;
RTIME runtime;
runtime = 0;
while(runtime < EXECTIMELOW) {
err = rt_sem_p(&mysync,TM_INFINITE);
if(err < 0) rt_printf("Failed pending semaphore; error: %d: %s", err, strerror(-err));
err = 0;
rt_printf("Low priority task locks semaphore\n");
rt_timer_spin(SPINTIME); // spin cpu doing nothing
runtime = runtime + SPINTIME;
rt_printf("Low priority task unlocks semaphore\n");
err = rt_sem_v(&mysync);
if(err < 0) rt_printf("Failed signaling semaphore; error: %d: %s", err, strerror(-err));
err = 0;
}
rt_printf("..........................................Low priority task ends\n");
}
int spin_timer(RTIME* ct) {
rt_timer_spin(*ct);
return 1;
}
int wait_blink() {
rt_timer_spin(200000);
return 1;
}
