00001 #include <stdio.h>
00002 #include <signal.h>
00003 #include <unistd.h>
00004 #include <sys/mman.h>
00005
00006 #include <native/task.h>
00007 #include <native/timer.h>
00008
00009 RT_TASK demo_task;
00010
00011
00012
00013 void demo(void *arg)
00014 {
00015 RTIME now, previous;
00016
00017
00018
00019
00020
00021
00022 rt_task_set_periodic(NULL, TM_NOW, 1000000000);
00023 previous = rt_timer_read();
00024
00025 while (1) {
00026 rt_task_wait_period(NULL);
00027 now = rt_timer_read();
00028
00029
00030
00031
00032
00033
00034 printf("Time since last turn: %ld.%06ld ms\n",
00035 (long)(now - previous) / 1000000,
00036 (long)(now - previous) % 1000000);
00037 previous = now;
00038 }
00039 }
00040
00041 void catch_signal(int sig)
00042 {
00043 }
00044
00045 int main(int argc, char* argv[])
00046 {
00047 signal(SIGTERM, catch_signal);
00048 signal(SIGINT, catch_signal);
00049
00050
00051 mlockall(MCL_CURRENT|MCL_FUTURE);
00052
00053
00054
00055
00056
00057
00058
00059
00060 rt_task_create(&demo_task, "trivial", 0, 99, 0);
00061
00062
00063
00064
00065
00066
00067 rt_task_start(&demo_task, &demo, NULL);
00068
00069 pause();
00070
00071 rt_task_delete(&demo_task);
00072 }