/* * Added user signals to semaphores test, * Dec, 2002 Josep Vidal <jvidal@disca.upv.es> (OCERA) */#include <rtl.h>#include <rtl_sema.h>#include <rtl_sched.h>#define NTASKS 20#define ONEMILISEC (long long)1000*1000#define ITERS 5static pthread_t thread[NTASKS];long long start_time=0;static sem_t sem;static int th_wakeup[NTASKS];void sig_handler(int sig_rec){  unsigned int thread_no;    thread_no=(unsigned int)(sig_rec-RTL_SIGRTMIN);   rtl_printf("I'm thread %d, really blocked on a sem...\n",thread_no);  rtl_printf("but signals handlers are executed regardless being blocked in a sem\n");    rtl_printf("After finishing handler execution for signal:%d, I will exit from the semaphore\n",sig_rec);}static void *start_routine(void *arg){  struct sched_param p;  struct sigaction sa;  int signal=0,err=0,j,iter=0;  long long period=0;  int param=(unsigned) arg;  rtl_sigset_t mask;    p . sched_priority =1;//param;  pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);         // Block all signals except the ones you want to receive.  if (param){    rtl_sigfillset(&mask);    signal=RTL_SIGRTMIN+param;    rtl_sigdelset(&mask,signal);    pthread_sigmask(SIG_SETMASK,&mask,NULL);    rtl_printf("I am thread %d, programing handler for signal:%d\n",param,signal);    sa.sa_handler=sig_handler;    sa.sa_mask=0;    sa.sa_flags=0;      if ((err=sigaction(signal,&sa,NULL))<0 ){      rtl_printf("sigaction(%d,&sa,NULL) FAILING, err:%d.\n",signal,err);    }  }  if (!param){    sem_wait(&sem);    period=500*ONEMILISEC;    pthread_make_periodic_np (pthread_self(), start_time ,period );    while (iter++<ITERS){      rtl_printf("\n\n\n\n -- MASTER thread in iter:%d BEFORE WAITING FOR NEXT PERIOD -- \n\n\n",iter);      rtl_printf("THREAD %d--> I want to signal not odd threads\n",param);      pthread_wait_np();            for (j=1;j<NTASKS;j++) {	if(thread[j]->magic!=RTL_THREAD_MAGIC) 	  rtl_printf("TEST PANIC!!!!!! thread %d not a valid thread\n",j);		// Send signals only to not odd numbers.	if (!(j%2)) pthread_kill(thread[j],RTL_SIGRTMIN+j);	}    }  } else {    rtl_sigfillset(&mask);    rtl_sigdelset(&mask,signal);        //    while(iter++<ITERS){        rtl_printf("THREAD %d. Just before adquiring the sem and getting blocked for ever.\n",param);      err=sem_wait(&sem);      rtl_printf("thread %d, sem_wait returned:%d & errno:%d  (#define EINTR 4  /* Interrupted system call */) \n",param,err,errno);      if (!(param % 2))     	rtl_printf("TEST SUCCESFULLY PASSED!!!! A signal has take thread %d out from the semaphore (iter:%d)\n",param,iter);         else	rtl_printf("TEST PANIC!!!! thread %d must be blocked on the semaphore (iter:%d)\n",param,iter);              // }       }  rtl_printf("Thread %d just before ending\n",param);  th_wakeup[param]=1;  return (void *)35 + param;}int init_module(void) {  int i;  sem_init(&sem,0,1);     start_time=gethrtime()+1000*ONEMILISEC;    // Threads creation.  for (i=0;i<NTASKS;i++){    th_wakeup[i]=0;    pthread_create (&thread[i], NULL, start_routine,(void *) i);   } return 0;}void cleanup_module(void) {  int i;    for (i=0;i<NTASKS;i++){    if (i && th_wakeup[i]) rtl_printf("thread %d waken up by a signal.\n",i);    pthread_cancel (thread[i]);    pthread_join (thread[i], NULL);        //pthread_delete_np (thread[i]);  }    rtl_printf("I'm printing this because non-periodic threads rtl_printfs are cutted\n");  sem_destroy(&sem);    }