/* * 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: test.c  * Description: This program test RTLinux POSIX.4 timers real-time constraints. *              Provides support for testing both CLOCK_REALTIME & CLOCK_MONOTONIC. *              Also for system clock on mode ONESHOT or PERIODIC deppending on the  *              defines. * * Procedure: 1.- Create a user-defined number of tasks.  *            2.- Set the system clock on mode ONESHOT or PERIODIC. *            3.- Schedule them, using RTLinux API or timers & signals. *            4.- Analyse test chronograms.  * *            5.- NOTE: You will observe that the scheduler result using the RTLinux API *                and timers + signals, is basically the same. *                Also you will observe that test chronogram for timers based on  *                CLOCK_MONOTONIC and system clock on mode periodic is not synchronous. *                This is OK, since in RTLinux CLOCK_MONOTONIC with system clock on mode  *                periodic is different from CLOCK_REALTIME (the one used by the scheduler *                and test chronogram) * * Author: J. Vidal <jvidal@disca.upv.es> * * */#include <rtl.h>#include <pthread.h>#include <time.h>#include <signal.h>#define NTASKS 3#define ONEMILISEC (long long)1000*1000#define PERIODIC_WITH_TIMERS//#define CLOCK_MODE_PERIODIC#define MY_SIGNAL RTL_SIGUSR1#define MY_CLOCK CLOCK_REALTIME//#define MY_CLOCK CLOCK_MONOTONICpthread_t thread[NTASKS];#ifdef  PERIODIC_WITH_TIMERStimer_t timer[NTASKS];#endiflong long start_time=0;void waste_time(int param){  int j,k,l,m=0;    // Consume time    for (j=0;j<(19-6*param);j++)    for (k=0;k<50;k++)    for (l=0;l<100*(NTASKS-param+1);l++)    m=m+j-k+l;}#ifdef  PERIODIC_WITH_TIMERSvoid timer_fun(int sig){  int i,param=sig-MY_SIGNAL;  static int count=0;#ifdef TEST_DEBUG  for (i=0;i<2;i++) rtl_printf("\n");  rtl_printf("Timer handler called for timer:%d\n",timer[param]->id);  rtl_printf("Timer period ns:%d\n",(unsigned int)timer[param]->expires.it_interval);  rtl_printf("Timer signal:%d\n",timer[param]->signal.sigev_signo);  rtl_printf("Count %d\n",count++);  for (i=0;i<2;i++) rtl_printf("\n");#endif    waste_time(param);}void timer_intr(int sig){  timer_fun(sig);}#endifvoid *start_routine(void *arg){  struct sched_param p;#ifdef  PERIODIC_WITH_TIMERS  struct itimerspec new_setting;  struct sigaction sa;  int signal=0;  int err=0;#endif  int i;  long period=0;  int param=(unsigned) arg;    p . sched_priority =param;  pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);    if (param!=(NTASKS-1))    period=(long)10*ONEMILISEC + 10*((long)param*ONEMILISEC) + param*ONEMILISEC;  else    period=(long)5*ONEMILISEC+(long)1000*param;    #ifdef  PERIODIC_WITH_TIMERS  sa.sa_handler=timer_intr;  sa.sa_mask=0;  sa.sa_flags=0;    if ((signal=MY_SIGNAL+param)> RTL_MAX_SIGNAL) signal=RTL_MAX_SIGNAL;  if ((err=sigaction(signal,&sa,NULL))<0 ){    rtl_printf("sigaction(MY_SIGNAL,&sa,NULL) FAILING, err:%d.\n",err);    pthread_exit(NULL);  }    new_setting.it_interval.tv_sec=0;  new_setting.it_interval.tv_nsec=period;  timespec_normalize(&new_setting.it_interval);  new_setting.it_value.tv_sec=0;  new_setting.it_value.tv_nsec=start_time+period;  timespec_normalize(&new_setting.it_value);    err=timer_settime(timer[param],0,&new_setting,NULL);  rtl_printf("timer_settime(timer[%d],0,&new_setting,&old_setting) returns %d\n",param,err);#else  pthread_make_periodic_np (pthread_self(), start_time+period ,period );  // rtl_printf("Periodic thread starts at %d\n",(int)gethrtime());  while (1) {    #ifdef TEST_DEBUG    for (i=0;i<2;i++) rtl_printf("\n");    rtl_printf("I am a periodic thread number:%d. \n",param);    for (i=0;i<2;i++) rtl_printf("\n");#endif    waste_time(param);    pthread_wait_np();	  }#endif#ifdef  PERIODIC_WITH_TIMERS    pthread_suspend_np(pthread_self());#endif         pthread_exit(NULL);    return 0;}int init_module(void) {  int i,ret;#ifdef  PERIODIC_WITH_TIMERS    sigevent_t signal; #endif#ifdef CLOCK_MODE_PERIODIC  hrtime_t period=100*1000; // 100 microseconds.  clockid_t cl=rtl_getschedclock();  rtl_setclockmode(cl,RTL_CLOCK_MODE_PERIODIC,period); #endif#ifdef  PERIODIC_WITH_TIMERS      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-1;    ret=timer_create(MY_CLOCK,&signal,&(timer[i]));        if (!ret) rtl_printf("Timer %d created succesfully\n",i);    else {      rtl_printf("Error creating timer %d. errno=%d\n",i,errno);      return -1;    }  }    #endif      start_time=100*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;  #ifdef  PERIODIC_WITH_TIMERS  for (i=0;i<NTASKS;i++)    timer_delete(timer[i]);#endif    for (i=0;i<NTASKS;i++)    pthread_delete_np (thread[i]);    }