[657be8f5] | 1 | /* |
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| 2 | * |
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| 3 | * This is a simple real-time applications which contains 3 periodic tasks. |
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| 4 | * |
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| 5 | * Task A is an independent task. |
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| 6 | * |
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| 7 | * Task B and C share a data. |
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| 8 | * |
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| 9 | * Tasks are implemented as POSIX threads. |
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| 10 | * |
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| 11 | * The share data is protected with a POSIX mutex. |
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| 12 | * |
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| 13 | * Other POSIX facilities such as timers, condition, .. is also used |
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| 14 | * |
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[2e7e636f] | 15 | * COPYRIGHT (c) 1989-2009. |
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[bdd1f5d] | 16 | * On-Line Applications Research Corporation (OAR). |
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| 17 | * |
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[657be8f5] | 18 | * The license and distribution terms for this file may be |
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| 19 | * found in the file LICENSE in this distribution or at |
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[3c48599] | 20 | * http://www.rtems.com/license/LICENSE. |
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[657be8f5] | 21 | * |
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| 22 | * $Id$ |
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| 23 | */ |
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| 24 | |
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| 25 | #define CONFIGURE_INIT |
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| 26 | #include "system.h" |
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| 27 | #include <pthread.h> /* thread facilities */ |
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| 28 | #include <signal.h> /* signal facilities */ |
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| 29 | #include <unistd.h> /* sleep facilities */ |
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| 30 | #include <sched.h> /* schedule facilities */ |
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| 31 | #include <time.h> /* time facilities */ |
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| 32 | #include <stdio.h> /* console facilities */ |
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[0e4232b] | 33 | #include <rtems/score/timespec.h> |
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[657be8f5] | 34 | |
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[2e7e636f] | 35 | void StopTimer( |
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| 36 | timer_t timer_id, |
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| 37 | struct itimerspec *timerdata |
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| 38 | ); |
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[657be8f5] | 39 | |
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| 40 | /* temporal parameters of a task */ |
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| 41 | |
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| 42 | struct periodic_params { |
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| 43 | struct timespec period; |
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[0e4232b] | 44 | int count; /* Number of iterations to run */ |
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[657be8f5] | 45 | int signo; /* signal number */ |
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| 46 | int id; /* task identification */ |
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[1b4f2b30] | 47 | }; |
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[657be8f5] | 48 | |
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| 49 | pthread_attr_t attr; |
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| 50 | |
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| 51 | /* shared datum */ |
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| 52 | |
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| 53 | struct shared_data { |
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| 54 | pthread_mutex_t mutex; |
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| 55 | pthread_cond_t sync; |
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| 56 | int updated; |
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| 57 | }; |
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| 58 | |
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| 59 | struct shared_data data; |
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| 60 | |
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[0e4232b] | 61 | void StopTimer( |
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| 62 | timer_t timer_id, |
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| 63 | struct itimerspec *timerdata |
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| 64 | ) |
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| 65 | { |
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[157354e9] | 66 | static int firstTime = 1; |
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| 67 | struct itimerspec *pOld; |
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| 68 | struct itimerspec odata; |
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| 69 | |
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| 70 | /* |
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| 71 | * We do not care about the old value. But we need to exercise |
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| 72 | * getting and not getting the return value back. |
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| 73 | */ |
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| 74 | pOld = (firstTime == 1) ? NULL : &odata; |
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| 75 | firstTime = 0; |
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| 76 | |
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| 77 | timerdata->it_value.tv_sec = 0; |
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| 78 | timerdata->it_value.tv_nsec = 0; |
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[f46fddfc] | 79 | if (timer_settime(timer_id,POSIX_TIMER_RELATIVE,timerdata,pOld) == -1) { |
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[157354e9] | 80 | perror ("Error in timer setting\n"); |
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| 81 | rtems_test_exit(0); |
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| 82 | } |
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[0e4232b] | 83 | } |
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| 84 | |
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[657be8f5] | 85 | /* task A */ |
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| 86 | void * task_a (void *arg) |
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| 87 | { |
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| 88 | struct timespec my_period; |
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| 89 | int my_sig, received_sig; |
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| 90 | struct itimerspec timerdata; |
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[0e4232b] | 91 | struct itimerspec timergetdata; |
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[657be8f5] | 92 | timer_t timer_id; |
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| 93 | time_t clock; |
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| 94 | struct sigevent event; |
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| 95 | sigset_t set; |
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[0e4232b] | 96 | struct periodic_params *params; |
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[657be8f5] | 97 | |
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[0e4232b] | 98 | params = arg; |
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| 99 | my_period = params->period; |
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| 100 | my_sig = params->signo; |
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[657be8f5] | 101 | |
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| 102 | /* timer create */ |
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| 103 | event.sigev_notify = SIGEV_SIGNAL; |
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| 104 | event.sigev_signo = my_sig; |
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| 105 | if (timer_create (CLOCK_REALTIME, &event, &timer_id) == -1) { |
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| 106 | perror ("Error in timer creation\n"); |
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[157354e9] | 107 | rtems_test_exit(0); |
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[657be8f5] | 108 | } |
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| 109 | |
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| 110 | /* block the timer signal */ |
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| 111 | sigemptyset (&set); |
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| 112 | sigaddset (&set,my_sig); |
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| 113 | pthread_sigmask(SIG_BLOCK,&set,NULL); |
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| 114 | |
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| 115 | /* set the timer in periodic mode */ |
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| 116 | timerdata.it_interval = my_period; |
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| 117 | timerdata.it_value = my_period; |
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[f132a3d8] | 118 | timerdata.it_value.tv_sec *= 2; |
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[0e4232b] | 119 | if (timer_settime(timer_id,POSIX_TIMER_RELATIVE,&timerdata,&timergetdata) == -1) { |
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[657be8f5] | 120 | perror ("Error in timer setting\n"); |
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[157354e9] | 121 | rtems_test_exit(0); |
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[657be8f5] | 122 | } |
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[0e4232b] | 123 | printf( |
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[d2a3b42e] | 124 | "task A: timer_settime - value=%" PRItime_t ":%d interval=%" PRItime_t ":%d\n", |
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[0e4232b] | 125 | timergetdata.it_value.tv_sec, timergetdata.it_value.tv_nsec, |
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| 126 | timergetdata.it_interval.tv_sec, timergetdata.it_interval.tv_nsec |
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| 127 | ); |
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| 128 | |
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[657be8f5] | 129 | |
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| 130 | /* periodic activity */ |
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| 131 | while(1) { |
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| 132 | if (sigwait(&set,&received_sig) == -1) { |
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| 133 | perror ("Error in sigwait\n"); |
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| 134 | } |
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[0e4232b] | 135 | if (timer_gettime(timer_id, &timerdata) == -1) { |
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| 136 | perror ("Error in timer_gettime\n"); |
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[157354e9] | 137 | rtems_test_exit(0); |
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[0e4232b] | 138 | } |
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| 139 | if (! _Timespec_Equal_to( &timerdata.it_value, &my_period )){ |
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| 140 | perror ("Error in Task A timer_gettime\n"); |
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| 141 | } |
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[657be8f5] | 142 | clock = time(NULL); |
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[0e4232b] | 143 | printf("Executing task A with count = %2i %s", params->count, ctime(&clock)); |
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| 144 | params->count--; |
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| 145 | if (params->count == 0) |
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| 146 | StopTimer(timer_id, &timerdata); |
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[657be8f5] | 147 | } |
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[7b64b25b] | 148 | return NULL; |
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| 149 | } |
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[657be8f5] | 150 | |
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| 151 | /* task B */ |
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| 152 | |
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| 153 | void * task_b (void *arg) |
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| 154 | { |
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| 155 | struct timespec my_period; |
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[bdd1f5d] | 156 | struct timespec now; |
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[657be8f5] | 157 | int my_sig, received_sig; |
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| 158 | struct itimerspec timerdata; |
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| 159 | timer_t timer_id; |
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| 160 | time_t clock; |
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| 161 | struct sigevent event; |
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| 162 | sigset_t set; |
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[0e4232b] | 163 | struct periodic_params *params; |
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[657be8f5] | 164 | |
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[0e4232b] | 165 | params = arg; |
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| 166 | my_period = params->period; |
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| 167 | my_sig = params->signo; |
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[657be8f5] | 168 | |
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| 169 | |
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| 170 | /* timer create */ |
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| 171 | event.sigev_notify = SIGEV_SIGNAL; |
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| 172 | event.sigev_signo = my_sig; |
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| 173 | if (timer_create (CLOCK_REALTIME, &event, &timer_id) == -1) { |
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| 174 | perror ("Error in timer creation\n"); |
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[157354e9] | 175 | rtems_test_exit(0); |
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[657be8f5] | 176 | } |
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| 177 | |
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| 178 | /* block the timer signal */ |
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| 179 | sigemptyset (&set); |
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| 180 | sigaddset (&set,my_sig); |
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| 181 | pthread_sigmask(SIG_BLOCK,&set,NULL); |
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| 182 | |
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| 183 | /* set the timer in periodic mode */ |
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[bdd1f5d] | 184 | clock_gettime( CLOCK_REALTIME, &now ); |
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[657be8f5] | 185 | timerdata.it_interval = my_period; |
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[bdd1f5d] | 186 | timerdata.it_value = now; |
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| 187 | _Timespec_Add_to( &timerdata.it_value, &my_period ); |
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[0e4232b] | 188 | if (timer_settime(timer_id,TIMER_ABSTIME,&timerdata,NULL) == -1) { |
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[657be8f5] | 189 | perror ("Error in timer setting\n"); |
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[157354e9] | 190 | rtems_test_exit(0); |
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[0e4232b] | 191 | } |
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[657be8f5] | 192 | |
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| 193 | /* periodic activity */ |
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| 194 | while(1) { |
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| 195 | if (sigwait(&set,&received_sig) == -1) { |
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| 196 | perror ("Error in sigwait\n"); |
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[157354e9] | 197 | rtems_test_exit(0); |
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[657be8f5] | 198 | } |
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[0e4232b] | 199 | |
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| 200 | if (timer_gettime(timer_id, &timerdata) == -1) { |
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| 201 | perror ("Error in timer_gettime\n"); |
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[157354e9] | 202 | rtems_test_exit(0); |
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[0e4232b] | 203 | } |
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[c54e6f5] | 204 | |
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| 205 | #if 0 |
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| 206 | /* |
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| 207 | * It is not an error if they are not equal. A clock tick could occur |
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| 208 | * and thus they are close but not equal. Can we test for this? |
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| 209 | */ |
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[157354e9] | 210 | if ( !_Timespec_Equal_to( &timerdata.it_value, &my_period) ){ |
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[c54e6f5] | 211 | printf( "NOT EQUAL %d:%d != %d:%d\n", |
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| 212 | timerdata.it_value.tv_sec, |
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| 213 | timerdata.it_value.tv_nsec, |
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| 214 | my_period.tv_sec, |
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| 215 | my_period.tv_nsec |
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| 216 | ); |
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[157354e9] | 217 | rtems_test_exit(0); |
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[0e4232b] | 218 | } |
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[c54e6f5] | 219 | #endif |
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[0e4232b] | 220 | |
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[657be8f5] | 221 | pthread_mutex_lock (&data.mutex); |
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| 222 | clock = time(NULL); |
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[f132a3d8] | 223 | printf("Executing task B with count = %2i %s", |
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[0e4232b] | 224 | params->count, ctime(&clock) |
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| 225 | ); |
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[657be8f5] | 226 | data.updated = TRUE; |
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| 227 | pthread_cond_signal (&data.sync); |
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| 228 | pthread_mutex_unlock (&data.mutex); |
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[0e4232b] | 229 | params->count--; |
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| 230 | if (params->count == 0) |
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| 231 | StopTimer(timer_id, &timerdata); |
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[657be8f5] | 232 | } |
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[7b64b25b] | 233 | return NULL; |
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[657be8f5] | 234 | } |
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| 235 | |
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| 236 | /* task C */ |
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| 237 | |
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| 238 | void * task_c (void *arg) |
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| 239 | { |
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[0e4232b] | 240 | int count; |
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[657be8f5] | 241 | struct timespec my_period; |
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| 242 | int my_sig, received_sig; |
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| 243 | struct itimerspec timerdata; |
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[0e4232b] | 244 | struct itimerspec timergetdata; |
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[657be8f5] | 245 | timer_t timer_id; |
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| 246 | time_t clock; |
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| 247 | struct sigevent event; |
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| 248 | sigset_t set; |
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[0e4232b] | 249 | struct periodic_params *params; |
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[657be8f5] | 250 | |
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[0e4232b] | 251 | params = arg; |
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| 252 | my_period = params->period; |
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| 253 | my_sig = params->signo; |
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[657be8f5] | 254 | |
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| 255 | /* timer create */ |
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| 256 | event.sigev_notify = SIGEV_SIGNAL; |
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| 257 | event.sigev_signo = my_sig; |
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| 258 | if (timer_create (CLOCK_REALTIME, &event, &timer_id) == -1) { |
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| 259 | perror ("Error in timer creation\n"); |
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[157354e9] | 260 | rtems_test_exit(0); |
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[657be8f5] | 261 | } |
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| 262 | |
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| 263 | /* block the timer signal */ |
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| 264 | sigemptyset (&set); |
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| 265 | sigaddset (&set,my_sig); |
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| 266 | pthread_sigmask(SIG_BLOCK,&set,NULL); |
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| 267 | |
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| 268 | /* set the timer in periodic mode */ |
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| 269 | timerdata.it_interval = my_period; |
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| 270 | timerdata.it_value = my_period; |
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[f132a3d8] | 271 | timerdata.it_value.tv_sec *= 2; |
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[0e4232b] | 272 | if (timer_settime(timer_id,POSIX_TIMER_RELATIVE,&timerdata,NULL) == -1) { |
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[657be8f5] | 273 | perror ("Error in timer setting\n"); |
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[157354e9] | 274 | rtems_test_exit(0); |
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[657be8f5] | 275 | } |
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| 276 | |
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| 277 | /* periodic activity */ |
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[0e4232b] | 278 | for (count=0 ; ; count++) { |
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[657be8f5] | 279 | if (sigwait(&set,&received_sig) == -1) { |
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| 280 | perror ("Error in sigwait\n"); |
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[157354e9] | 281 | rtems_test_exit(0); |
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[1b4f2b30] | 282 | } |
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[0e4232b] | 283 | if (timer_gettime(timer_id, &timerdata) == -1) { |
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| 284 | perror ("Error in timer_gettime\n"); |
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[157354e9] | 285 | rtems_test_exit(0); |
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[0e4232b] | 286 | } |
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| 287 | if (! _Timespec_Equal_to( &timerdata.it_value, &my_period) ){ |
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| 288 | perror ("Error in Task C timer_gettime\n"); |
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| 289 | } |
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[657be8f5] | 290 | pthread_mutex_lock (&data.mutex); |
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| 291 | while (data.updated == FALSE) { |
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| 292 | pthread_cond_wait (&data.sync,&data.mutex); |
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| 293 | } |
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| 294 | clock = time(NULL); |
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[f132a3d8] | 295 | printf("Executing task C with count = %2i %s", |
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[0e4232b] | 296 | params->count, ctime(&clock) |
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| 297 | ); |
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| 298 | |
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| 299 | if ( count && (count % 5) == 0 ) { |
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| 300 | int overruns = 0; |
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| 301 | sleep(1); |
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| 302 | overruns = timer_getoverrun( timer_id ); |
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| 303 | printf( "task C: timer_getoverrun - overruns=%d\n", overruns ); |
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| 304 | |
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| 305 | if (timer_gettime(timer_id, &timergetdata) == -1) { |
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| 306 | perror ("Error in timer setting\n"); |
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[157354e9] | 307 | rtems_test_exit(0); |
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[0e4232b] | 308 | } |
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| 309 | printf( |
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[d2a3b42e] | 310 | "task C: timer_gettime - %" PRItime_t ":%d remaining from %" PRItime_t ":%d\n", |
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[0e4232b] | 311 | timergetdata.it_value.tv_sec, timergetdata.it_value.tv_nsec, |
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| 312 | timergetdata.it_interval.tv_sec, timergetdata.it_interval.tv_nsec |
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| 313 | ); |
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| 314 | } |
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| 315 | |
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[657be8f5] | 316 | pthread_mutex_unlock (&data.mutex); |
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[0e4232b] | 317 | params->count--; |
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| 318 | if (params->count == 0) |
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| 319 | StopTimer(timer_id, &timerdata); |
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[657be8f5] | 320 | } |
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[7b64b25b] | 321 | return NULL; |
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| 322 | } |
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[657be8f5] | 323 | |
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| 324 | /* main */ |
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| 325 | |
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| 326 | void *POSIX_Init ( |
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| 327 | void *argument |
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| 328 | ) |
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| 329 | |
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| 330 | { |
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| 331 | pthread_mutexattr_t mutexattr; /* mutex attributes */ |
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| 332 | pthread_condattr_t condattr; /* condition attributes */ |
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| 333 | pthread_attr_t attr; /* task attributes */ |
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[7a67dfbc] | 334 | pthread_t ta,tb,tc, tc1; /* threads */ |
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[657be8f5] | 335 | sigset_t set; /* signals */ |
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[1b4f2b30] | 336 | |
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[657be8f5] | 337 | struct sched_param sch_param; /* schedule parameters */ |
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[7a67dfbc] | 338 | struct periodic_params params_a, params_b, params_c, params_c1; |
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[1b4f2b30] | 339 | |
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[eed0b96d] | 340 | puts( "\n\n*** POSIX Timers Test 01 ***" ); |
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[657be8f5] | 341 | |
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| 342 | data.updated = FALSE; |
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| 343 | |
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| 344 | /* mask signal */ |
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| 345 | sigemptyset (&set); |
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| 346 | sigaddset (&set,SIGALRM); |
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| 347 | pthread_sigmask (SIG_BLOCK,&set,NULL); |
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| 348 | |
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| 349 | /* set mutex attributes */ |
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| 350 | if (pthread_mutexattr_init (&mutexattr) != 0) { |
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| 351 | perror ("Error in mutex attribute init\n"); |
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| 352 | } |
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| 353 | |
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| 354 | /* init mutex */ |
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| 355 | if (pthread_mutex_init (&data.mutex,&mutexattr) != 0) { |
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| 356 | perror ("Error in mutex init"); |
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| 357 | } |
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| 358 | |
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| 359 | /* init condition attributes */ |
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| 360 | if (pthread_condattr_init (&condattr) != 0) { |
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| 361 | perror ("Error in condition attribute init\n"); |
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| 362 | } |
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| 363 | |
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| 364 | /* init condition */ |
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| 365 | if (pthread_cond_init (&data.sync,&condattr) != 0) { |
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| 366 | perror ("Error in condition init"); |
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| 367 | } |
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| 368 | |
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| 369 | /* init task attributes */ |
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| 370 | if (pthread_attr_init(&attr) != 0) { |
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| 371 | perror ("Error in attribute init\n"); |
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| 372 | } |
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| 373 | |
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| 374 | /* set explicit schedule for every task */ |
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[0e4232b] | 375 | if (pthread_attr_setinheritsched (&attr, PTHREAD_EXPLICIT_SCHED) != 0) { |
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[657be8f5] | 376 | perror("Error in attribute inheritsched\n"); |
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| 377 | } |
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| 378 | |
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| 379 | /* set task independent (join will not use) */ |
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[0e4232b] | 380 | if (pthread_attr_setdetachstate (&attr, PTHREAD_CREATE_DETACHED) != 0) { |
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[657be8f5] | 381 | perror ("Error in attribute detachstate\n"); |
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| 382 | } |
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| 383 | |
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| 384 | /* schedule policy POSIX_FIFO (priority preemtive and FIFO within the same |
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| 385 | priority) */ |
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[0e4232b] | 386 | if (pthread_attr_setschedpolicy (&attr, SCHED_FIFO) != 0) { |
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[1b4f2b30] | 387 | perror ("Error in attribute setschedpolicy\n"); |
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[657be8f5] | 388 | } |
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| 389 | |
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| 390 | /* set and create thread A with priority 1 */ |
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| 391 | |
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| 392 | sch_param.sched_priority = 1; |
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| 393 | if (pthread_attr_setschedparam(&attr, &sch_param) != 0) { |
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| 394 | perror ("Error in attribute schedparam\n"); |
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| 395 | } |
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[1b4f2b30] | 396 | |
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[657be8f5] | 397 | /* Temporal parameters (1 sec. periodicity) */ |
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| 398 | |
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| 399 | params_a.period.tv_sec = 1; /* seconds */ |
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| 400 | params_a.period.tv_nsec = 000000000; /* nanoseconds */ |
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[0e4232b] | 401 | params_a.count = 20; |
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[657be8f5] | 402 | params_a.signo = SIGALRM; |
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| 403 | if (pthread_create (&ta, &attr, task_a, ¶ms_a) != 0 ) { |
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| 404 | perror ("Error in thread create for task a\n"); |
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| 405 | } |
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| 406 | |
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| 407 | /* set and create thread B with priority 15 */ |
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[1b4f2b30] | 408 | |
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[657be8f5] | 409 | sch_param.sched_priority = 15; |
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| 410 | if (pthread_attr_setschedparam(&attr, &sch_param) != 0) { |
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| 411 | perror ("Error in attribute schedparam"); |
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| 412 | } |
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[1b4f2b30] | 413 | |
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[657be8f5] | 414 | /* Temporal parameters (2 sec. periodicity) */ |
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| 415 | params_b.period.tv_sec = 2; /* seconds */ |
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| 416 | params_b.period.tv_nsec = 000000000; /* nanoseconds */ |
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[0e4232b] | 417 | params_b.count = 10; |
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[657be8f5] | 418 | params_b.signo = SIGALRM; |
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| 419 | if (pthread_create (&tb, &attr, task_b, ¶ms_b) != 0) { |
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| 420 | perror ("Error in thread create for task b\n"); |
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| 421 | } |
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| 422 | |
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| 423 | /* set and create thread B with priority 14 */ |
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| 424 | |
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| 425 | sch_param.sched_priority = 14; |
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| 426 | if (pthread_attr_setschedparam(&attr, &sch_param) != 0 ) { |
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| 427 | perror ("Error in attribute schedparam\n"); |
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| 428 | } |
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| 429 | |
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| 430 | /* Temporal parameters (3 sec. periodicity) */ |
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| 431 | params_c.period.tv_sec = 3; /* seconds */ |
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| 432 | params_c.period.tv_nsec = 000000000; /* nanoseconds */ |
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[0e4232b] | 433 | params_c.count = 6; |
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[657be8f5] | 434 | params_c.signo = SIGALRM; |
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| 435 | if (pthread_create (&tc, &attr, task_c, ¶ms_c) != 0) { |
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[3c0c898] | 436 | perror ("Error in thread create for task c\n"); |
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[657be8f5] | 437 | } |
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| 438 | |
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[0e4232b] | 439 | /* execute 25 seconds and finish */ |
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| 440 | sleep (25); |
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[7a67dfbc] | 441 | |
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| 442 | puts( "starting C again with 0.5 second periodicity" ); |
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| 443 | /* Temporal parameters (0.5 sec. periodicity) */ |
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| 444 | params_c1.period.tv_sec = 0; /* seconds */ |
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| 445 | params_c1.period.tv_nsec = 500000000; /* nanoseconds */ |
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| 446 | params_c1.count = 6; |
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| 447 | params_c1.signo = SIGALRM; |
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| 448 | if (pthread_create (&tc1, &attr, task_c, ¶ms_c1) != 0) { |
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| 449 | perror ("Error in thread create for task c1\n"); |
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| 450 | } |
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| 451 | |
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| 452 | sleep(5); |
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| 453 | |
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[eed0b96d] | 454 | puts( "*** END OF POSIX Timers Test 01 ***" ); |
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[d802489] | 455 | rtems_test_exit (0); |
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[657be8f5] | 456 | } |
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