--- /dev/null
+// -----------------------------------------------------------------------
+// Copyright (C) 2006 - 2008 FRESCOR consortium partners:
+//
+// Universidad de Cantabria, SPAIN
+// University of York, UK
+// Scuola Superiore Sant'Anna, ITALY
+// Kaiserslautern University, GERMANY
+// Univ. Politécnica Valencia, SPAIN
+// Czech Technical University in Prague, CZECH REPUBLIC
+// ENEA SWEDEN
+// Thales Communication S.A. FRANCE
+// Visual Tools S.A. SPAIN
+// Rapita Systems Ltd UK
+// Evidence ITALY
+//
+// See http://www.frescor.org for a link to partners' websites
+//
+// FRESCOR project (FP6/2005/IST/5-034026) is funded
+// in part by the European Union Sixth Framework Programme
+// The European Union is not liable of any use that may be
+// made of this code.
+//
+//
+// based on previous work (FSF) done in the FIRST project
+//
+// Copyright (C) 2005 Mälardalen University, SWEDEN
+// Scuola Superiore S.Anna, ITALY
+// Universidad de Cantabria, SPAIN
+// University of York, UK
+//
+// FSF API web pages: http://marte.unican.es/fsf/docs
+// http://shark.sssup.it/contrib/first/docs/
+//
+// This file is part of FOSA (Frsh Operating System Adaption)
+//
+// FOSA is free software; you can redistribute it and/or modify it
+// under terms of the GNU General Public License as published by the
+// Free Software Foundation; either version 2, or (at your option) any
+// later version. FOSA is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details. You should have received a
+// copy of the GNU General Public License along with FOSA; see file
+// COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,
+// Cambridge, MA 02139, USA.
+//
+// As a special exception, including FOSA header files in a file,
+// instantiating FOSA generics or templates, or linking other files
+// with FOSA objects to produce an executable application, does not
+// by itself cause the resulting executable application to be covered
+// by the GNU General Public License. This exception does not
+// however invalidate any other reasons why the executable file might be
+// covered by the GNU Public License.
+// -----------------------------------------------------------------------
+
+
+#include <unistd.h>
+#include <stdio.h>
+
+#include <assert.h>
+#include <stdlib.h> // for exit in assert
+#include <string.h> // for memset
+
+#include "fosa.h"
+
+/*****************************/
+/* D E F I N I T I O N S */
+/*****************************/
+#define RT_ERROR_SIGWAIT -2
+#define RT_ERROR_TIMER -3
+
+#define SIGNAL_TIMER FOSA_SIGNAL_MAX - 1
+
+/***************************/
+/* P R O T O T Y P E S */
+/***************************/
+static void * thread_body(void *thread_arg);
+
+
+static fosa_abs_time_t start_execution;
+static fosa_abs_time_t signal_reception;
+
+int main ()
+{
+ int err = -1;
+
+ fosa_thread_attr_t attr;
+ fosa_thread_id_t tid;
+
+ fosa_signal_t signal_received;
+ fosa_signal_info_t info_programmed, info_received;
+ fosa_rel_time_t work_interval = fosa_msec_to_rel_time(3200); // 3.2 seconds
+ fosa_clock_id_t clockid;
+ fosa_timer_id_t timerid;
+
+ fosa_rel_time_t budget;
+ fosa_rel_time_t elapsed_time;
+ fosa_signal_t signal_set[1];
+
+ /* Set the signal mask */
+ /***********************/
+ signal_set[0] = SIGNAL_TIMER;
+ if (fosa_set_accepted_signals(signal_set, 1) !=0)
+ {
+ printf ("Error while setting the signal mask\n");
+ exit (1);
+ }
+
+ /* Create the thread attributes and define its priority */
+ /********************************************************/
+ if (fosa_thread_attr_init (&attr) != 0) {
+ printf("Error while initializing the attributes\n");
+ exit(1);
+ }
+
+ if (fosa_thread_attr_set_prio (&attr,fosa_get_priority_min()+3) != 0) {
+ printf("Error while setting schedparam\n");
+ exit(1);
+ }
+
+ /* create the periodic thread. It won't execute yet */
+ /* because it has lower priority than main(). */
+ /*****************************************************/
+ err = fosa_thread_create(&tid, &attr, thread_body, NULL);
+ if (err) {
+ printf("pthread_create failed thread\n");
+ exit(1);
+ }
+
+ /* Get the thread's cputime clock */
+ /**********************************/
+ if (fosa_thread_get_cputime_clock(tid, &clockid) !=0)
+ {
+ exit(RT_ERROR_TIMER);
+ }
+
+ /* Create a timer and arm it with a given budget */
+ /*************************************************/
+ info_programmed.sival_int = 42;
+ err = fosa_timer_create(clockid, SIGNAL_TIMER, info_programmed, &timerid);
+ printf("timer created, err=%d\n", err);
+ assert(err == 0);
+
+ budget = fosa_msec_to_rel_time(2500);
+ err = fosa_rel_timer_arm(timerid, &budget);
+ printf("timer armed for 2.5 secs, err=%d\n", err);
+ assert(err == 0);
+
+ /* We execute a little bit to ensure that execution time */
+ /* and real time differ */
+ /*********************************************************/
+ printf("Main works for some time...\n");
+ fosa_eat(&work_interval);
+
+ /* Now we do the wait in order to allow the thread to run */
+ /**********************************************************/
+ printf("About to do the wait\n");
+ err = fosa_signal_wait(signal_set, 1 ,&signal_received, &info_received);
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, &signal_reception);
+ elapsed_time = fosa_abs_time_extract_interval(start_execution, signal_reception);
+
+ printf("signal received=%d value=%d (42?), err=%d\n",
+ signal_received, info_received.sival_int, err);
+
+ printf("Elapsed time between sigwait and timer expiration: %ld msecs\n",
+ fosa_rel_time_to_msec(elapsed_time) );
+
+ return 0;
+}
+
+
+// ----------------------------------------------------------------
+
+static void * thread_body(void *thread_arg)
+{
+ fosa_abs_time_t before_work_time;
+ fosa_abs_time_t after_work_time;
+ fosa_rel_time_t work_interval = fosa_msec_to_rel_time(1400);
+ fosa_rel_time_t elapsed_time;
+ int err;
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, &start_execution);
+
+ while(1)
+ {
+ err = fosa_clock_get_time(FOSA_CLOCK_REALTIME, &before_work_time);
+ assert(err == 0);
+ printf("Start periodic work at %ld msecs\n", fosa_abs_time_to_msec(before_work_time) );
+
+ fosa_eat(&work_interval);
+
+ err = fosa_clock_get_time(FOSA_CLOCK_REALTIME, &after_work_time);
+ assert(err == 0);
+
+ printf("End periodic work at %ld msecs\n", fosa_abs_time_to_msec(after_work_time) );
+ elapsed_time = fosa_abs_time_extract_interval(before_work_time, after_work_time);
+
+ printf("Elapsed time: %ld msecs\n", fosa_rel_time_to_msec(elapsed_time) );
+
+ } // while
+ return NULL;
+}
+
projects / frescor / fosa.git / blobdiff