/* * POSIX.4 Timers 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 * published by the Free Software Foundation version 2. * * Name: simple_test.c * Description: Simple program to test timers API.  * * Procedure: 1.- Create a user-defined number of tasks. *            2.- Make periodic them, with a period of 2 minutes. *            3.- Arm timers for each task. The firs tasks arms a *            one-shot timer and the others repeating timers with  *            an interval of 1 second. *            4.- Install a handler for each timer that wakes up each *            task every timer expiration. *            5.- Check that task period changes (for all tasks but the first) *            from 2 minutes to 1 second due to timers expirations and handlers executions. *  * Author: J. Vidal <jvidal@disca.upv.es>  */#include <rtl.h>#include <pthread.h>#include <time.h>#include <signal.h>#define MY_SIGNAL RTL_SIGUSR1#define NTASKS 2pthread_t thread[NTASKS];timer_t timer[NTASKS];#define ONESEC 1000*1000*1000#define ONEMILISEC 1000*1000#define MILISECS_PER_SEC 1000#define PERIODIC_CLOCK_MODEhrtime_t start_time;void timer_intr(int sig){  rtl_printf("\nTimer handler called for signal:%d\n",sig);  pthread_wakeup_np(pthread_self());}void *start_routine(void *arg){  struct sched_param p;  struct itimerspec new_setting,old_setting,current_timer_specs;  struct sigaction sa;  long long period=(long long) 120*1000*1000*1000;  hrtime_t now=0,last_expiration=0;  int signal,err=0,param=(unsigned)arg;  signal=MY_SIGNAL+param;  p . sched_priority = 5;  pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);    sa.sa_handler=timer_intr;  sa.sa_mask=0;  sa.sa_flags=0;  /* if arg== 0 -> one-shot timer. */  new_setting.it_interval.tv_sec=1*(unsigned)arg;   new_setting.it_interval.tv_nsec=0;  new_setting.it_value.tv_sec=1;  new_setting.it_value.tv_nsec=start_time;    if ((err=sigaction(signal,&sa,NULL))<0 ){    rtl_printf("sigaction(signal,&sa,NULL) FAILING, err:%d.\n",err);  }    err=timer_settime(timer[param],0,&new_setting,&old_setting);  rtl_printf("timer_settime(timer[%d],0,&new_setting,&old_setting) returns %d\n",(unsigned) arg,err);    pthread_make_periodic_np (pthread_self(), gethrtime() ,period );  if (!param) rtl_printf("This is a one-shot timer\n");  while (1) {    last_expiration=now;    now=gethrtime();    timer_gettime(timer[param],&current_timer_specs);    rtl_printf("timer %d armed. Specs: value:%d interval:%d (in milis)\n",param,(int)(timespec_to_ns(&current_timer_specs.it_value)/MILISECS_PER_SEC),(int)(timespec_to_ns(&current_timer_specs.it_interval)/MILISECS_PER_SEC));    rtl_printf("time passed since last expiration:%d (in milis)\n",(int)(now-last_expiration)/MILISECS_PER_SEC);        pthread_wait_np();   }  }int init_module(void) {  int i,ret;  sigevent_t signal; #ifdef CLOCK_MODE_PERIODIC  hrtime_t period=1000*1000; // 1 milisecond.  clockid_t cl=rtl_getschedclock();  rtl_setclockmode(cl,RTL_CLOCK_MODE_PERIODIC,period); #endif  for (i=0;i<NTASKS;i++){        signal.sigev_notify=SIGEV_SIGNAL;    if ((signal.sigev_signo=MY_SIGNAL+i)>RTL_MAX_SIGNAL) signal.sigev_signo=RTL_MAX_SIGNAL;    ret=timer_create(CLOCK_REALTIME,&signal,&(timer[i]));        if (!ret) rtl_printf("Timer %d created succesfully\n",i);    else       {	rtl_printf("Error creating timer %d.\n",i);	return -1;      }  }      start_time=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++)    timer_delete(timer[i]);    for (i=0;i<NTASKS;i++)    pthread_delete_np (thread[i]);    }