Enables conditional compilation for gateway itself.

[can-benchmark.git] / rtems / gw / cangw / gw.c

diff --git a/rtems/gw/cangw/gw.c b/rtems/gw/cangw/gw.c
index 24d408724efa33e97d4378de4ef2287c2a776ab5..2a08a0c0ae63c4e164389c428d27421630e537a4 100644 (file)
--- a/rtems/gw/cangw/gw.c
+++ b/rtems/gw/cangw/gw.c
@@ -1,6 +1,6 @@
 #include <system_def.h>\r
-#include "system.h"\r
 #include "app_def.h"\r
+#include "system.h"\r
 #include <stdio.h>\r
 #include <stdlib.h>\r
 #include <rtems/untar.h>\r
@@ -20,6 +20,7 @@
 #define CAN_GW_A_TO_B_MODE 1\r
 #define CAN_GW_B_TO_A_MODE 2\r
 #define CAN_GW_BAUDRATE 1000000\r
+#define CAN_GW_TASK_HIGH_PRIO 250 /* POSIX API actually has priorities the "right way around" that is, higher is indeed more important */\r
 \r
 /* counters for informational purposes */\r
 unsigned long int total_1 = 0, total_2 = 0;\r
@@ -54,7 +55,9 @@ static void fd_closer(void* arg){
 static void* CAN_GW_thread(void* arg){\r
     int fd_in, fd_out;\r
     int res;\r
-    unsigned long int *total, *succ, *err;\r
+#ifndef BENCH_BUILD\r
+    unsigned long int *total = NULL, *succ = NULL, *err = NULL; /* Makes compiler shut up about warnings. */\r
+#endif\r
     \r
     struct can_message canmsg;\r
     struct mscan_rx_parms rxparms;\r
@@ -73,19 +76,25 @@ static void* CAN_GW_thread(void* arg){
     if (((int)arg) == CAN_GW_A_TO_B_MODE){\r
         fd_in = open(MSCAN_A_DEV_NAME, O_RDWR);\r
         fd_out = open(MSCAN_B_DEV_NAME, O_RDWR);\r
-        total = &total_1;\r
-        succ = &succ_1;\r
-        err = &err_1;\r
     } else if (((int)arg) == CAN_GW_B_TO_A_MODE){\r
         fd_in = open(MSCAN_B_DEV_NAME, O_RDWR);\r
         fd_out = open(MSCAN_A_DEV_NAME, O_RDWR);\r
+    } else {\r
+        /* Invalid argument, terminate self. */\r
+        return NULL;\r
+    }\r
+\r
+#ifndef BENCH_BUILD /* Overhead decrease for benching builds.*/\r
+    if (((int)arg) == CAN_GW_A_TO_B_MODE){\r
+        total = &total_1;\r
+        succ = &succ_1;\r
+        err = &err_1;\r
+    } else {\r
         total = &total_2;\r
         succ = &succ_2;\r
         err = &err_2;\r
-    } else {\r
-        /* Invalid argument, terminates itself. */\r
-        rtems_task_delete(RTEMS_SELF);\r
     }\r
+#endif\r
     \r
     /* CANs are set to proper baudrate outside of these task due to potential race condition. */\r
 \r
@@ -105,12 +114,17 @@ static void* CAN_GW_thread(void* arg){
             txparms.tx_idx = canmsg.mess_id;\r
             res = write(fd_out, &txparms, sizeof(txparms));\r
             if (res < 0) {\r
+#ifndef BENCH_BUILD /* This is the simplest way to remove all the counting */\r
                 /* Retry? Decide later. */\r
                 (*err)++;\r
             } else {\r
                 (*succ)++;\r
             }\r
             (*total)++;\r
+#else\r
+            } /* Turns it into empty loop. */\r
+#endif\r
+\r
         }\r
     }\r
     return NULL;\r
@@ -119,20 +133,32 @@ static void* CAN_GW_thread(void* arg){
 \r
 static int start_tasks(){\r
     int res;\r
+\r
     \r
-    res = pthread_create(&CAN_A_to_B_thread, NULL, CAN_GW_thread, (void*)CAN_GW_A_TO_B_MODE);\r
+    pthread_attr_t attributes;\r
+    struct sched_param parm;    \r
+    parm.sched_priority = CAN_GW_TASK_HIGH_PRIO;\r
+    pthread_attr_init(&attributes);\r
+#ifdef HIGH_PRIO /* Without setting PTHREAD_EXPLICIT_SCHED, thread is created with parameters inherited from this thread. */\r
+    res = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);\r
+#endif\r
+    pthread_attr_setschedparam(&attributes, &parm);\r
+\r
+    res = pthread_create(&CAN_A_to_B_thread, &attributes, CAN_GW_thread, (void*)CAN_GW_A_TO_B_MODE);\r
     if (res != 0){\r
         /* No cleanup is needed here. */\r
         return 1;\r
     }\r
 \r
-    res = pthread_create(&CAN_B_to_A_thread, NULL, CAN_GW_thread, (void*)CAN_GW_B_TO_A_MODE);\r
+    res = pthread_create(&CAN_B_to_A_thread, &attributes, CAN_GW_thread, (void*)CAN_GW_B_TO_A_MODE);\r
     if (res != 0){\r
         /* First thread needs to be aborted before return. */\r
         pthread_cancel(CAN_A_to_B_thread);\r
         return 1;\r
     }\r
     \r
+    pthread_attr_destroy(&attributes);\r
+    \r
     /* detach is needed so that the threads call clean up handlers automatically. */\r
     pthread_detach(CAN_B_to_A_thread);\r
     pthread_detach(CAN_A_to_B_thread);\r
@@ -195,7 +221,7 @@ static int set_baudrate(int baudrate, int* fd1, int* fd2){
     memset(&ctrl_parms, 0, sizeof(ctrl_parms));\r
     ctrl_parms.ctrl_can_bitrate = baudrate;\r
 \r
-    printf("Attempting to set bitrate %u for fd.\n",  ctrl_parms.ctrl_can_bitrate);\r
+    printf("Attempting to set bitrate %"PRIu32" for fd.\n",  ctrl_parms.ctrl_can_bitrate);\r
     \r
     fd = open(MSCAN_A_DEV_NAME, O_RDWR);\r
     if (fd < 0){\r