static void CommandChrono_task(long t)
{
RTIME fiveSeconds = nano2count(FIVE_SECONDS);
unsigned long command;
unsigned int buffered = 0;
unsigned int C = 'C';
unsigned int R = 'R';
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *put = (RT_TASK *)0, *task;
Chronostatus = stoppedInitial;
while (ackn != ('c' + 'd')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'd':
get = task;
ackn += command;
break;
case 'c':
put = task;
ackn += command;
break;
}
}
rt_return(put, command);
rt_return(get, command);
while(1) {
cpu_used[hard_cpu_id()]++;
switch (Chronostatus) {
case stoppedInitial:
if (buffered) {
command = buffered;
buffered = 0;
} else {
rt_receive(put, &command);
}
Chronostatus = running;
break;
case running:
if (rt_receive_if(put, &command)) {
if (command == 'E') {
Chronostatus = stoppedFinal;
}
} else {
command = C;
}
break;
case stoppedFinal:
Chronostatus = stoppedInitial;
if (rt_receive_timed(put, &command, fiveSeconds) > 0) {
buffered = command;
}
command = R;
break;
}
rt_send(get, command);
}
}
pid_t rt_Creceive(pid_t pid, void *msg, size_t maxsize, size_t *msglen, RTIME delay)
{
RT_TASK *task;
MSGCB *cb;
task = pid ? pid2rttask(pid) : 0;
if (delay) {
task = rt_receive_timed(task, (unsigned int *)&cb, delay);
} else {
task = rt_receive_if(task, (unsigned int *)&cb);
}
if (task) {
if ((pid = rttask2pid(task))) {
*msglen = maxsize <= cb->sbytes ? maxsize : cb->sbytes;
if (*msglen) {
memcpy(msg, cb->sbuf, *msglen);
}
return pid;
}
return 0;
}
return 0;
}
