--- /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 <time.h> // for nanosleep
+
+#include "fosa.h"
+
+void * thread_code(void *arg) {
+ printf("Thread executing\n");
+ sleep(1);
+ printf("Thread terminating\n");
+ return NULL;
+}
+
+/////////////////////////////////////////////////////////////
+// Simple test program for FOSA
+//
+// It just checks that the different functions can be called
+// and that they return appropriate values
+/////////////////////////////////////////////////////////////
+
+int main () {
+
+ //////////////////////////////////
+ // Test clock functions
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test get_time\n");
+
+ fosa_abs_time_t current_time;
+ int err;
+ void * obtained;
+ fosa_clock_id_t cpu_clock;
+
+ err=fosa_clock_get_time(FOSA_CLOCK_REALTIME, ¤t_time);
+ printf("fosa_clock_get_time for CLOCK_REALTIME %ld msec err=%d\n",
+ fosa_rel_time_to_msec(current_time), err);
+
+ fosa_thread_get_cputime_clock(fosa_thread_self(), &cpu_clock);
+ err=fosa_clock_get_time(cpu_clock, ¤t_time);
+ printf("fosa_clock_get_time for CPU-time clock %ld msec err=%d\n",
+ fosa_rel_time_to_msec(current_time), err);
+
+ /////////////////////////////////////////////
+ // Test thread ids, attributes and creation
+ ////////////////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test thread ids and thread creation\n");
+
+ int stsize, prio;
+
+ fosa_thread_id_t tid1=fosa_thread_self();
+ fosa_thread_id_t tid2=fosa_thread_self();
+ printf("equal thread comparison=%d\n",fosa_thread_equal(tid1,tid2));
+
+ fosa_thread_attr_t th_attr;
+
+ err=fosa_thread_attr_init(&th_attr);
+ printf("thread attributes object initialized, err=%d\n",err);
+
+ err=fosa_thread_attr_set_stacksize(&th_attr,40000);
+ printf("thread attr set stack size to 40000, err=%d\n",err);
+
+ err=fosa_thread_attr_get_stacksize(&th_attr,&stsize);
+ printf("thread attr get stack size=%d, err=%d\n",stsize,err);
+
+ err=fosa_thread_attr_set_prio(&th_attr,27);
+ printf("thread attr set prio to 27, err=%d\n",err);
+
+ err=fosa_thread_attr_get_prio(&th_attr,&prio);
+ printf("thread attr get prio=%d, err=%d\n",prio,err);
+
+ err=fosa_thread_create (&tid2, &th_attr, thread_code, NULL);
+ printf("creating thread with default attributes err=%d\n",err);
+
+ sleep(2);
+
+ err=fosa_thread_attr_destroy(&th_attr);
+ printf("thread attributes object destroyed, err=%d\n",err);
+
+ //////////////////////////////////
+ // Test signals
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test signals\n");
+
+ fosa_signal_t received;
+ fosa_signal_info_t sigvalue, value_received;
+ fosa_rel_time_t timeout;
+ fosa_signal_t sig=FOSA_SIGNAL_MIN+1;
+ fosa_signal_t timer_sig=FOSA_SIGNAL_MIN+3;
+ fosa_signal_t siglist[2];
+
+ siglist[0]=sig;
+ siglist[1]=timer_sig;
+
+ timeout = fosa_msec_to_rel_time(1000);
+
+ sigvalue.sival_int=55;
+
+ err=fosa_set_accepted_signals(siglist,2);
+ printf("two signals in set of accepted signals, err=%d\n",err);
+
+ err=fosa_signal_timedwait(siglist,1,&received,&value_received,&timeout);
+ printf("timed wait not implemented; timeoutcode=%d\n",err);
+
+ err=fosa_signal_queue(sig, sigvalue,fosa_thread_self());
+ printf("signal queued with value 55, err=%d\n",err);
+
+ err=fosa_signal_wait(siglist,1,&received, &value_received);
+ printf("timeoutcode=%d signal received=%d value=%d\n",
+ err,received,value_received.sival_int);
+
+ //////////////////////////////////
+ // Test timers and signals
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test timers and signals\n");
+
+ fosa_signal_info_t timer_info;
+ fosa_timer_id_t timerid;
+ fosa_rel_time_t timerval, remaining_time;
+
+ timer_info.sival_int=88;
+ timerval = fosa_msec_to_rel_time(1300);
+
+ err=fosa_timer_create
+ (FOSA_CLOCK_REALTIME, timer_sig, timer_info,&timerid);
+ printf("timer created, err=%d\n",err);
+
+ err=fosa_rel_timer_arm(timerid, &timerval);
+ printf("timer armed for 1.3 secs, err=%d\n",err);
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, ¤t_time);
+ printf("current time %ld msec\n", fosa_rel_time_to_msec(current_time) );
+ printf("wait for timer to expire...\n");
+
+ siglist[0]=timer_sig;
+ err=fosa_signal_wait(siglist,1,&received, &value_received);
+ printf("timeoutcode=%d signal received=%d value=%d\n",
+ err,received,value_received.sival_int);
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, ¤t_time);
+ printf("current time: %ld msec\n", fosa_rel_time_to_msec(current_time) );
+
+ timerval = fosa_msec_to_rel_time(6000);
+ err=fosa_rel_timer_arm(timerid, &timerval);
+ printf("timer armed for 6 secs, err=%d\n",err);
+
+ struct timespec timerval_tspec = {1, 0};
+ printf("sleeping 1 second\n");
+ nanosleep(&timerval_tspec, NULL);
+
+ err=fosa_timer_get_remaining_time(timerid, &remaining_time);
+ printf("timer remaining time: %ld msec\n", fosa_rel_time_to_msec(remaining_time) );
+
+ printf("sleeping 1 second\n");
+ nanosleep(&timerval_tspec, NULL);
+
+ err=fosa_timer_disarm(timerid,&remaining_time);
+ printf("timer disarmed, remaining time: %ld msec, err=%d\n",
+ fosa_rel_time_to_msec(remaining_time), err);
+
+ err=fosa_timer_get_remaining_time(timerid, &remaining_time);
+ printf("timer remaining time after disarm (0?) %ld msec, err=%d\n",
+ fosa_rel_time_to_msec(remaining_time), err);
+
+ fosa_timer_delete(timerid);
+
+
+ //////////////////////////////////
+ // Test thread-specific data
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test thread-specific data\n");
+
+ int value=333;
+ int key;
+ fosa_thread_id_t tid=fosa_thread_self();
+
+ err=fosa_key_create(&key);
+ printf("key created=%d. err=%d\n",key,err);
+
+ fosa_thread_set_specific_data (key, tid, (void *) (&value));
+ printf("specific data set to 333. err=%d\n",err);
+
+ fosa_thread_get_specific_data (key, tid, &obtained);
+ printf("obtained thread specific data=%d\n",*((int *)obtained));
+
+
+ //////////////////////////////////
+ // Test Priorities
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test priorities\n");
+
+
+ err=fosa_thread_set_prio(fosa_thread_self(),14);
+ printf("priority set to 14. err=%d\n",err);
+
+ err=fosa_thread_get_prio(fosa_thread_self(),&prio);
+ printf("prio=%d. err=%d\n",prio,err);
+
+
+ //////////////////////////////////
+ // Test Mutexes
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test mutexes\n");
+
+ fosa_mutex_t lock;
+ int old;
+
+ err=fosa_mutex_init(&lock,24);
+ printf("mutex initialized with ceiling 24. err=%d\n",err);
+
+ err=fosa_mutex_set_prioceiling(&lock,24,&old);
+ printf("mutex priority ceiling changed to 24. old=%d. err=%d\n",old,err);
+
+ err=fosa_mutex_get_prioceiling(&lock,&old);
+ printf("mutex priority ceiling is=%d. err=%d\n",old,err);
+
+ err=fosa_mutex_lock(&lock);
+ printf("mutex locked. err=%d\n",err);
+
+ err=fosa_mutex_unlock(&lock);
+ printf("mutex unlocked. err=%d\n",err);
+
+ err=fosa_mutex_trylock(&lock);
+ printf("mutex try locked. err=%d\n",err);
+
+ err=fosa_mutex_unlock(&lock);
+ printf("mutex unlocked. err=%d\n",err);
+
+ //////////////////////////////////
+ // Test Condition variables
+ //////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test condition variables\n");
+
+ fosa_cond_t cond;
+
+ err=fosa_cond_init(&cond);
+ printf("condvar initialized. err=%d\n",err);
+
+ err=fosa_cond_signal(&cond);
+ printf("cond signalled. err=%d\n",err);
+
+ err=fosa_cond_broadcast(&cond);
+ printf("cond broadcast. err=%d\n",err);
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, ¤t_time);
+ printf("current time %ld msec\n", fosa_abs_time_to_msec(current_time) );
+
+ current_time = fosa_abs_time_incr(current_time, fosa_msec_to_rel_time(2000) );
+
+ fosa_mutex_lock(&lock);
+ err=fosa_cond_timedwait(&cond,&lock,¤t_time);
+ fosa_mutex_unlock(&lock);
+ printf("cond timedwait with timeout=2 sec. err=%d\n",err);
+
+ fosa_clock_get_time(FOSA_CLOCK_REALTIME, ¤t_time);
+ printf("current time %ld msec\n", fosa_abs_time_to_msec(current_time) );
+
+ err=fosa_mutex_destroy(&lock);
+ printf("mutex destroyed. err=%d\n",err);
+
+ err=fosa_cond_destroy(&cond);
+ printf("cond destroyed. err=%d\n",err);
+
+ ////////////////////////////////////////
+ // Test Application-defined scheduling
+ ///////////////////////////////////////
+
+ printf("--------------------------------------------------\n");
+ printf("test application-defined scheduling\n");
+
+ fosa_thread_attr_t th1_attr;
+ bool is_appsched;
+
+ err=fosa_thread_attr_init(&th1_attr);
+ printf("thread attributes object initialized, err=%d\n",err);
+
+ err=fosa_thread_attr_set_appscheduled(&th1_attr,true);
+ printf("thread attr set appsched, err=%d\n",err);
+
+ err=fosa_thread_attr_get_appscheduled(&th1_attr,&is_appsched);
+ printf("thread attr get appsched=%d, err=%d\n",is_appsched,err);
+
+ return 0;
+}
projects / frescor / fosa.git / blobdiff