void sender_pipe(void) {
fprintf(stderr,"sender\n");
make_realtime(98);
size_t i;
for(i = 0; i < SECS*FREQUENCY; i ++) {
ticks_t ticks = get_ticks();
ssize_t r = write(fd[1], &ticks, sizeof(ticks));
if(sizeof(ticks) != r) abort();
usleep((useconds_t)(1e6/FREQUENCY));
}
}
void sender_ach(void) {
fprintf(stderr,"sender\n");
make_realtime(98);
size_t i;
for( i = 0; i < SECS*FREQUENCY; i ++) {
ticks_t ticks = get_ticks();
int r = ach_put(&chan, &ticks, sizeof(ticks));
if(ACH_OK != r) abort();
usleep((useconds_t)(1e6/FREQUENCY));
}
}
void calibrate(void) {
make_realtime(30);
double a = 0;
ticks_t r0,r1;
size_t i;
overhead = 0;
for( i = 0; i<1000; i++ ) {
r0 = get_ticks();
r1 = get_ticks();
a += ticks_delta(r0,r1);
}
overhead = (a) / 1000;
}
void receiver_ach(int rt) {
fprintf(stderr,"receiver\n");
make_realtime(99);
/* flush some initial delayed messages */
size_t i;
for( i = 0; i < 5; i ++ ) {
ticks_t ticks;
size_t fs;
enum ach_status r = ach_get(&chan, &ticks, sizeof(ticks), &fs, NULL,
ACH_O_LAST | ACH_O_WAIT);
switch (r) {
case ACH_OK: case ACH_MISSED_FRAME: break;
default:
fprintf(stderr, "bad ach_get result: %s\n", ach_result_to_string(r));
exit(EXIT_FAILURE);
}
}
/* now the good stuff */
ticks_t ticks = get_ticks();
while(1) {
size_t fs;
ticks_t then;
if (KERNDEV) {
then.tv_sec = 1;
then.tv_nsec = 0;
} else {
then = ticks;
then.tv_sec += 1;
}
int r = ach_get(&chan, &ticks, sizeof(ticks), &fs, &then,
ACH_O_LAST | ACH_O_WAIT);
ticks_t now = get_ticks();
if( ACH_TIMEOUT == r ) break;
assert(ACH_OK == r || sizeof(ticks) == fs);
/* only print real-time latencies */
if (rt) {
send_time((float)ticks_delta(ticks,now));
}
}
}
void receiver_pipe(int rt) {
(void)rt;
fprintf(stderr,"receiver\n");
make_realtime(99);
/* flush some initial delayed messages */
size_t i;
for( i = 0; i < 5; i ++ ) {
ticks_t ticks;
ssize_t r = read(fd[0], &ticks, sizeof(ticks));
if(sizeof(ticks) != r) abort();
}
/* now the good stuff */
while(1) {
ticks_t ticks;
ssize_t r = read(fd[0], &ticks, sizeof(ticks));
ticks_t now = get_ticks();
if(sizeof(ticks) != r) abort();
send_time((float)ticks_delta(ticks,now));
}
}
int main()
{
make_realtime(Runner::_process, new Runner);
}
