trivial-periodic.c

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 /* NOTE: error handling omitted. */
00012 
00013 void demo(void *arg)
00014 {
00015         RTIME now, previous;
00016 
00017         /*
00018          * Arguments: &task (NULL=self),
00019          *            start time,
00020          *            period (here: 1 s)
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                  * NOTE: printf may have unexpected impact on the timing of
00031                  *       your program. It is used here in the critical loop
00032                  *       only for demonstration purposes.
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         /* Avoids memory swapping for this program */
00051         mlockall(MCL_CURRENT|MCL_FUTURE);
00052 
00053         /*
00054          * Arguments: &task,
00055          *            name,
00056          *            stack size (0=default),
00057          *            priority,
00058          *            mode (FPU, start suspended, ...)
00059          */
00060         rt_task_create(&demo_task, "trivial", 0, 99, 0);
00061 
00062         /*
00063          * Arguments: &task,
00064          *            task function,
00065          *            function argument
00066          */
00067         rt_task_start(&demo_task, &demo, NULL);
00068 
00069         pause();
00070 
00071         rt_task_delete(&demo_task);
00072 }

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