X-Git-Url: http://rtime.felk.cvut.cz/gitweb/ert_linux.git/blobdiff_plain/60e06334b0bae3c8811a14985a3269e58fb05fce..cc5c048815a3558f4de7f701ff683178604c4188:/ert_linux/ert_linux_multitasking_main.tlc

diff --git a/ert_linux/ert_linux_multitasking_main.tlc b/ert_linux/ert_linux_multitasking_main.tlc
index 96ca6ea..dfae42a 100644
--- a/ert_linux/ert_linux_multitasking_main.tlc
+++ b/ert_linux/ert_linux_multitasking_main.tlc
@@ -1,22 +1,16 @@
 %%
-%% linux_ert_target_multitasking_main.tlc
 %%
 %% description:
-%%  This TLC script generates ert_main for multi-rate / multi-tasking
+%%  This TLC script generates ert_main.c
 %%  case.
 %%
-%% date: 3nd Feb 2009
+%% authors: Michal Sojka <sojkam1@fel.cvut.cz>
+%%          Lukas Hamacek <hamacl1@fel.cvut.cz>
 %%
-%% author: Lukas Hamacek, Michal Sojka
-%% e-mail: hamacl1@fel.cvut.cz
 %% Department of Control Engineering
 %% Faculty of Electrical Engineering
 %% Czech Technical University in Prague
 %%
-%% modifications:
-%%  2009/2/3 - Lukas Hamacek
-%%      creation of the file
-%%
 
 %% GENERATEDECLARATIONS
 %%  This function generates main function declarations.
@@ -27,7 +21,8 @@
 %function generateDeclarations() Output
 
   /* Multirate - Multitasking case main file */
-  #define _POSIX_C_SOURCE 199309L        /* For clock_gettime() */
+  #define _BSD_SOURCE		         /* For usleep() */
+  #define _POSIX_C_SOURCE 200112L        /* For clock_gettime() & clock_nanosleep() */
   #include <stdio.h>                     /* This ert_main.c example uses printf/fflush */
   #include <pthread.h>                   /* Thread library header file */
   #include <sched.h>                     /* OS scheduler header file */
@@ -175,24 +170,32 @@
       %endforeach
 
       /* Execute base rate step */
-      %<modelName>_step0();
+      %if solverMode == "SingleTasking"
+	%<modelName>_step();
+      %else
+	%<modelName>_step0();
+      %endif
 
       %if extMode == 1
 	rtExtModeCheckEndTrigger();
       %endif
 
-      next.tv_sec += period.tv_sec;
-      next.tv_nsec += period.tv_nsec;
-      if (next.tv_nsec >= 1000000000) {
-	next.tv_sec++;
-	next.tv_nsec -= 1000000000;
-      }
-      clock_gettime(CLOCK_MONOTONIC, &now);
-      if (now.tv_sec > next.tv_sec ||
-          (now.tv_sec == next.tv_sec && now.tv_nsec > next.tv_nsec)) {
-	    uint64_T nsec = (now.tv_sec - next.tv_sec) * 1000000000 + now.tv_nsec - next.tv_nsec;
-	    fprintf(stderr, "Base rate (%<fundamentalStepSize>s) overrun by %d us\n", (int)(nsec/1000));
-      }
+      do {
+	next.tv_sec += period.tv_sec;
+	next.tv_nsec += period.tv_nsec;
+	if (next.tv_nsec >= 1000000000) {
+	  next.tv_sec++;
+	  next.tv_nsec -= 1000000000;
+	}
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	if (now.tv_sec > next.tv_sec ||
+	    (now.tv_sec == next.tv_sec && now.tv_nsec > next.tv_nsec)) {
+	  uint32_T usec = (now.tv_sec - next.tv_sec) * 1000000 + (now.tv_nsec - next.tv_nsec)/1000;
+	  fprintf(stderr, "Base rate (%<fundamentalStepSize>s) overrun by %d us\n", usec);
+	  next = now;
+	  continue;
+	}
+      }	while (0);
       clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next, NULL);
 
     }