/*
* メインタスク
*/
void main_task(VP_INT exinf)
{
int len;
char buf[256];
const char cmnd[] = "RVAL\r";
unsigned char chr;
vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (INT) exinf);
Initialize();
while(1)
{
SIO_FlashBuffer();
strcpy(buf, cmnd);
len = SIO_Write((unsigned char*)buf, sizeof(cmnd)); // Send Command
chr = 0;
while(chr != '\r')
{
len = SIO_ReadForever((unsigned char*)buf, 1);
chr = buf[0];
tslp_tsk(100);
}
tslp_tsk(100);
}
syslog(LOG_NOTICE, "Sample program ends.");
kernel_exit();
}
/*
* モニタタスク
*/
void monitor(VP_INT exinf)
{
INT no, point;
B c;
/* モニタで使用するデータの初期化 */
mon_portid = mon_default_portid = (ID)exinf;
mon_datatype = DATA_BYTE;
mon_logmask = LOG_NOTICE;
mon_lowmask = LOG_EMERG;
current_tskid = MONTASK;
mon_infile = stdin;
if(mon_portid != CONSOLE_PORTID)
syscall(serial_opn_por(mon_portid));
#ifdef NEED_MONITOR
if(!need_monitor())
ext_tsk();
#endif /* NEED_MONITOR */
_setup_stdio(&mon_portid);
#ifdef MONITOR_DELAY
dly_tsk(MONITOR_DELAY);
#endif /* MONITOR_DELAY */
#if defined(LOGTASK) && (LOGTASK_PRIORITY <= MONITOR_PRIORITY)
chg_pri(LOGTASK, MONITOR_PRIORITY+1);
dly_tsk(50);
printf("change log task priority %d to %d !\n", LOGTASK_PRIORITY, MONITOR_PRIORITY+1);
#endif
printf(banner,
(TMONITOR_PRVER >> 12) & 0x0f,
(TMONITOR_PRVER >> 4) & 0xff,
TMONITOR_PRVER & 0x0f);
vmsk_log(LOG_UPTO(mon_logmask), LOG_UPTO(mon_lowmask));
syscall(serial_ctl_por(mon_portid, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
/* モニタのメインのデスパッチ */
do{
prompt(current_tskid);
c = monitor_getstring(mon_command, &point);
no = dispatch_command(mon_command, &point);
putecho('\n');
if(no >= 0)
mon_dispatch[no].func(&mon_command[point]);
fflush(NULL);
}while(c != KEY_EXT);
printf("exit monitor !!\n");
}
/*
* メインタスク
*/
void main_task(VP_INT exinf)
{
char c;
ID tskid = TASK1;
volatile UW i;
INT tskno = 1;
ER_UINT ercd;
PRI tskpri;
SYSTIM stime1, stime2;
#ifndef OMIT_VGET_TIM
SYSUTIM utime1, utime2;
#endif /* OMIT_VGET_TIM */
vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int)exinf);
syscall(serial_ctl_por(TASK_PORTID,
(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
/*
* ループ回数の設定
*/
task_loop = LOOP_REF;
get_tim(&stime1);
for (i = 0; i < task_loop; i++);
get_tim(&stime2);
task_loop = LOOP_REF * 400 / (stime2 - stime1);
tex_loop = task_loop / 5;
/*
* タスクの起動
*/
act_tsk(TASK1);
act_tsk(TASK2);
act_tsk(TASK3);
/*
* メインループ
*/
do {
syscall(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);
syscall(act_tsk(tskid));
break;
case 'A':
syslog(LOG_INFO, "#can_act(%d)", tskno);
syscall(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);
syscall(ter_tsk(tskid));
break;
case '>':
syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
chg_pri(tskid, HIGH_PRIORITY);
break;
case '=':
syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
chg_pri(tskid, MID_PRIORITY);
break;
case '<':
syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
chg_pri(tskid, LOW_PRIORITY);
break;
case 'G':
syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
syscall(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);
syscall(wup_tsk(tskid));
break;
case 'W':
syslog(LOG_INFO, "#can_wup(%d)", tskno);
syscall(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);
syscall(rel_wai(tskid));
break;
case 'u':
syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
syscall(sus_tsk(tskid));
break;
case 'm':
syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
syscall(rsm_tsk(tskid));
break;
case 'M':
syslog(LOG_INFO, "#frsm_tsk(%d)", tskno);
syscall(frsm_tsk(tskid));
break;
case 'x':
syslog(LOG_INFO, "#ras_tex(%d, 0x0001)", tskno);
syscall(ras_tex(tskid, 0x0001));
break;
case 'X':
syslog(LOG_INFO, "#ras_tex(%d, 0x0002)", tskno);
syscall(ras_tex(tskid, 0x0002));
break;
case 'r':
syslog(LOG_INFO, "#rot_rdq(three priorities)");
rot_rdq(HIGH_PRIORITY);
rot_rdq(MID_PRIORITY);
rot_rdq(LOW_PRIORITY);
break;
case 'c':
sta_cyc(CYCHDR1);
break;
case 'C':
stp_cyc(CYCHDR1);
break;
#ifndef OMIT_VGET_TIM
case 'V':
syscall(vxget_tim(&utime1));
syscall(vxget_tim(&utime2));
syslog(LOG_NOTICE, "utime1 = %d, utime2 = %d",
(UINT) utime1, (UINT) utime2);
break;
#endif /* OMIT_VGET_TIM */
case 'v':
vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
break;
case 'q':
vmsk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG));
break;
default:
break;
}
} while (c != '\003' && c != 'Q');
syslog(LOG_NOTICE, "Sample program ends.");
kernel_exit();
}
/*
* ログコマンド
*/
static UW
log_command(B *command)
{
T_TPRM loglist;
T_PCHK *p;
INT point=0;
B cmd=-1;
UW value1, value2;
UW tcount, ttime;
UW type, address;
int no, count;
count = sizeof(mon_log) / sizeof(struct SUBCOMMAND_TABLE);
if(command[point]){
for(no = 0 ; no < count ; no++){
if(compare_word(mon_log[no].subcommand, command, 0)){
skip_word(command, &point);
cmd = mon_log[no].type;
break;
}
}
}
switch(cmd){
case MONLOG_MODE: /* ロギングモード設定 */
if(!get_value(command, &point, &value1, DEC_BASE))
value1 = mon_logmask;
if(!get_value(command, &point, &value2, DEC_BASE))
value2 = mon_lowmask;
if(value1 <= LOG_DEBUG)
mon_logmask = value1;
if(value2 <= LOG_DEBUG)
mon_lowmask = value2;
vmsk_log(LOG_UPTO(mon_logmask), LOG_UPTO(mon_lowmask));
printf(" set logmask=%s lowmask=%s !\n", (VP_INT)log_mode[mon_logmask], (VP_INT)log_mode[mon_lowmask]);
break;
case MONLOG_TASK: /* タスクモニタ設定 */
if(!get_value(command, &point, &value1, DEC_BASE))
value1 = 0;
if(value1 < 100)
value1 = 0;
value2 = 0;
do{
count = get_tsklog(&loglist);
if(value2 == 0){ /* はじめの１回 */
value2 =loglist.currtime;
printf("-- time --");
for(no = 1 ; no <= NUM_LOG_DISP ; no++)
printf(" --id=%04u --", no);
printf(" -- others -- -vacancy-\n");
}
value2 += value1;
if(value1 == 0)
printf("%010lu\n", (unsigned long)loglist.pervtime);
printf("%010lu", (unsigned long)loglist.currtime);
tcount = ttime = 0;
for(no = 1 ; no <= count ; no++){
if(no <= NUM_LOG_DISP){
printf(" %04u %05lu.%01u", loglist.tlog[no].runcount, (unsigned long)(loglist.tlog[no].runtimes/10),
(int)(loglist.tlog[no].runtimes%10));
}
else{
tcount += loglist.tlog[no].runcount;
ttime += loglist.tlog[no].runtimes;
}
}
printf(" %04u %05lu.%01u", (int)tcount, (unsigned long)(ttime/10), (int)(ttime%10));
printf(" %07lu.%01u\n", (unsigned long)(loglist.tlog[0].runtimes/10), (int)(loglist.tlog[0].runtimes%10));
if(value1){
tslp_tsk(value2 - loglist.currtime);
if(monitor_break())
value1 = 0;
}
}while(value1);
break;
case MONLOG_PORT: /* ポートモニタ設定 */
value2 = NUM_PCHK-1;
if(get_value(command, &point, &value1, DEC_BASE)){
if((p = get_device_log(value1)) != 0){
value2 = value1;
if(!get_value(command, &point, &type, DEC_BASE)){
if(p->logtype == 0)
printf(" %02u %1u OFF =", (int)value1, (int)p->logtype);
else
printf(" %02u %1u %s =", (int)value1, (int)p->logtype, (VP_INT)log_mode[p->logtype]);
command = mon_command;
monitor_getstring(command, &point);
if(!get_value(command, &point, &type, DEC_BASE))
type = 0;
putchar('\n');
}
if(type >= LOG_DEBUG)
type = 0;
p->logtype = type;
if(!get_value(command, &point, &address, HEX_BASE)){
if(p->logtype == 0)
printf(" %02d OFF %08lx =", (int)value1, (unsigned long)p->portaddress);
else
printf(" %02d %s %08lx =", (int)value1, (VP_INT)log_mode[p->logtype], (unsigned long)p->portaddress);
command = mon_command;
monitor_getstring(command, &point);
address = p->portaddress;
get_value(command, &point, &address, HEX_BASE);
putchar('\n');
}
p->portaddress = address;
}
}
else
value1 = 0;
while(value1 <= value2){
if((p = get_device_log(value1)) != 0){
if(p->logtype > 0)
printf(" %02d %s port=%08lx\n", (int)value1, (VP_INT)log_mode[p->logtype], (unsigned long)p->portaddress);
else
printf(" %02d OFF port=%08lx\n", (int)value1, (unsigned long)p->portaddress);
}
else
break;
value1++;
}
break;
default:
break;
}
return 0;
}
