/* * POSIX.1 Signals test program * * Written by J. Vidal * Copyright (C) Dec, 2002 OCERA Consortium. * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2. * * Testing nanosleep function when receiving signals. * */#include <rtl.h>#include <rtl_sched.h>#define NTASKS 3#define ONEMILISEC (long long)1000*1000#define ITERS 2static pthread_t thread[NTASKS];long long start_time=0;static void signal_handler(int sig){  rtl_printf("Signal handler called for signal:%d\n",sig);}static void *start_routine(void *arg){  struct sched_param p;  struct timespec sleep_period,remaining;  struct sigaction sa;  rtl_sigset_t mask;  int signal=0, err=0,i,j=0;  long long period=0;  int param=(unsigned) arg;  //blocking all user signals.  rtl_sigfillset(&mask);  pthread_sigmask(SIG_SETMASK,&mask,NULL);      p . sched_priority =param;  pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);    sa.sa_handler=signal_handler;  sa.sa_mask=0;  sa.sa_flags=0;    signal=RTL_SIGUSR2+param;  if ((err=sigaction(signal,&sa,NULL))<0 ){    rtl_printf("sigaction(SIGRTMIN,&sa,NULL) FAILING, err:%d.\n",err);  }    sleep_period.tv_sec=1+param;  remaining.tv_sec=remaining.tv_nsec=sleep_period.tv_nsec=0;  if (param!=0){        rtl_sigemptyset(&mask);    rtl_sigaddset(&mask,signal);    pthread_sigmask(SIG_UNBLOCK,&mask,NULL);    while (j++<ITERS) {          rtl_printf("Hi,I am thread %d\n",param);      rtl_printf("Sleeping for %ld seconds\n",sleep_period.tv_sec);      nanosleep(&sleep_period,&remaining);      if (remaining.tv_sec || remaining.tv_nsec){	rtl_printf("Warning a signal has wake up thread %d from its sweet dream!\n",param);	rtl_printf("Still remained %d seconds plus %d nanoseconds\n",remaining.tv_sec,remaining.tv_nsec);	rtl_printf("Restoring time not sleeped\n");	sleep_period.tv_sec+=remaining.tv_sec;	sleep_period.tv_nsec+=remaining.tv_nsec;      }    }  } else {    period=(long long) ONEMILISEC;    pthread_make_periodic_np (pthread_self(), start_time ,period );    while (j++<ITERS){      pthread_wait_np();      rtl_printf("Hi, I am thread %d, waking up others threads from its sweet dream\n",param);      for (i=1;i<NTASKS;i++){	rtl_printf("Sending signal %d to thread %d\n",RTL_SIGUSR2+i,i);	err=pthread_kill(thread[i],RTL_SIGUSR2+i);	rtl_printf("pthread_kill returns %d\n",err);      }    }  }  return 0;}int init_module(void) {  int i;  start_time=gethrtime()+1000*ONEMILISEC;    // Threads creation.  for (i=0;i<NTASKS;i++)    pthread_create (&thread[i], NULL, start_routine,(void *) i);     return 0;}void cleanup_module(void) {  int i;    for (i=0;i<NTASKS;i++){    pthread_cancel(thread[i]);    pthread_join (thread[i], NULL);    //pthread_delete(thread[i]);  }    }