void task_body (void *cookie)
{
struct timespec ts;
unsigned int delay = 1000*1000; // Note: Delay in ns
FILE *pin0 = init_gpio(18);
FILE *pin1 = init_gpio(23);
FILE *pin2 = init_gpio(24);
FILE *pin3 = init_gpio(25);
signal(SIGINT, dumptimestamps);
clock_gettime(CLOCK_MONOTONIC, &ts);
// Lock memory to ensure no swapping is done.
if(mlockall(MCL_FUTURE|MCL_CURRENT)) {
fprintf(stderr,"WARNING: Failed to lock memory\n");
}
// Set our thread to real time priority
// struct sched_param sp;
// sp.sched_priority = 30;
// if(pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)){
// fprintf(stderr,"WARNING: Failed to set stepper thread"
// "to real-time priority\n");
// }
while(1) {
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin0,1);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin3,0);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin1,1);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin0,0);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin2,1);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin1,0);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin3,1);
sleep_until(&ts,delay);
logtimestamp();
setiopin(pin2,0);
}
}
std::ofstream & myLib::getofs()
{
static std::ofstream ofs;
// Do you want to make noise, or not?
// TODO: debug level instead of boolean.
bool quiet = false;
if (quiet) {
ofs.close();
} else {
if (!ofs.is_open()) {
//ofs = new std::ofstream();
ofs.open("C:/EES32/Userlib/nf_EES_lib1/eessucks.log",
std::ofstream::out | std::ofstream::app);
logtimestamp(ofs);
ofs << "Opening the file ..." << std::endl;
}
}
return ofs;
}
