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1_trivial_periodic.c
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1_trivial_periodic.c
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#include<stdio.h>
#include<signal.h>
#include<unistd.h>
#include<sys/mman.h>
#include<rtdk.h>
#include<native/task.h>
#include<native/timer.h>
#include<native/pipe.h>
#define TASK_PRIO 99
#define TASK_MODE T_FPU|T_CPU(0)
#define TASK_STKSZ 4096
RT_TASK demo_task;
RT_PIPE p1;
int ret=0;
void demo(void *arg)
{
RTIME now, previous;
ret =rt_pipe_create(&p1,"test_pipe",0,0);
if(ret<0)
{
printf("error in rt_pipe and value is %d\n",ret);
}
rt_task_set_periodic(NULL,TM_NOW,1000000000);
previous = rt_timer_read();
while(1)
{
rt_task_wait_period(NULL);
now=rt_timer_read();
printf("timer since last turn:%ld.061d ms\n",
(long)(now-previous)/1000000,
(long)(now-previous) % 1000000);
previous = now;
}
}
void catch_signal(int sig)
{
printf("real time task is terminated");
}
int main(int argc,char * argv[])
{
signal(SIGTERM,catch_signal);
signal(SIGINT,catch_signal);//CRTL+C
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_task_create(&demo_task,"trivial",0,99,0);
rt_task_start(&demo_task,&demo,NULL);
pause();
rt_task_delete(&demo_task);
}