/* * Modified by J. Vidal to test RTLinux POSIX.4 interval timers 22-09-2002  * */#include <rtl.h>#include <pthread.h>#include <time.h>#include <signal.h>#include "utils.h"#define perror(s) do { rtl_printf(s" -> error localitzation: "); myperror(s); } while(0)#define printf rtl_printf#define getpid() th#define kill pthread_kill#define sleep(sec) usleep(sec*1000*1000)#define exit(a) do {return a;} while (0)#define strerror(a) a#define MAX_NOF_TIMERS 6000#define SIGRTMIN RTL_SIGRTMIN#define SIGRTMAX RTL_SIGRTMAX#define SIGALRM RTL_SIGUSR1#define sigprocmask pthread_sigmasktimer_t tt[MAX_NOF_TIMERS];timer_t t,t2;pthread_t th;struct timespec ref;struct itimerspec ispec;struct itimerspec ospec;struct sigaction sa;rtl_sigset_t set;int retval;int i,j;int signo,sival_expected;  struct sigevent timer_event_spec;static void reset_ref_time(void){  clock_gettime(CLOCK_REALTIME, &ref);}/*static void print_rel_time(void){  struct timespec now;  clock_gettime(CLOCK_REALTIME, &now);  now.tv_sec -= ref.tv_sec;  now.tv_nsec -= ref.tv_nsec;  if (now.tv_nsec < 0) {    now.tv_sec--;    now.tv_nsec += 1000000000;  }  printf("%ld.%09ld", now.tv_sec, now.tv_nsec);}*/void alrm_handler(int signo){  rtl_printf("Alarm handler called for signal:%d\n",signo);}void *th_code(void *arg){  rtl_printf("Starting th_code\n");  rtl_sigemptyset(&set);  sigprocmask(SIG_SETMASK, &set, NULL);    sa.sa_handler = alrm_handler;  rtl_sigemptyset(&sa.sa_mask);  if (sigaction(SIGALRM, &sa, NULL)) {    perror("sigaction failed");    exit(1);  }    if (sigaction(SIGRTMIN, &sa, NULL)) {    perror("sigaction failed");    exit(1);  }  rtl_printf("before sigaction(%d, &sa, NULL)) \n",SIGRTMIN +1 );  if (sigaction(SIGRTMIN + 1, &sa, NULL)) {    perror("sigaction failed");    exit(1);  }    printf("\ntest 10: set absolute time (no time specification): expect failure\n");	retval = timer_settime(t, TIMER_ABSTIME, NULL, NULL);	if (retval) {		perror("timer_settime(TIMER_ABSTIME) failed");	}	assert(retval == -1);		printf("\ntest 11: set relative time (no time specification): expect failure\n");	retval = timer_settime(t, 0, NULL, NULL);	if (retval) {		perror("timer_settime(0) failed");	}	assert(retval == -1);	retval = clock_gettime(CLOCK_REALTIME, &ispec.it_value);	if (retval) {		perror("clock_gettime(CLOCK_REALTIME) failed");	}	assert(retval == 0);	ispec.it_value.tv_sec += 2;	ispec.it_value.tv_nsec = 0;	ispec.it_interval.tv_sec = 0;	ispec.it_interval.tv_nsec = 0;	reset_ref_time();	printf("\ntest 18: set timer (absolute time) 2 seconds in the future\n");	retval = timer_settime(t, TIMER_ABSTIME, &ispec, &ospec);	if (retval) {		perror("timer_settime(TIMER_ABSTIME) failed");	}	assert(retval == 0);	printf("timer_settime: old setting value=%ld.%09ld, interval=%ld.%09ld\n",	       ospec.it_value.tv_sec, ospec.it_value.tv_nsec,	       ospec.it_interval.tv_sec, ospec.it_interval.tv_nsec);	reset_ref_time();	printf("\ntest 19: set timer (absolute time) same time\n");	retval = timer_settime(t, TIMER_ABSTIME, &ispec, &ospec);	if (retval) {		perror("timer_settime(TIMER_ABSTIME) failed");	}	assert(retval == 0);	printf("timer_settime: old setting value=%ld.%09ld, interval=%ld.%09ld\n",	       ospec.it_value.tv_sec, ospec.it_value.tv_nsec,	       ospec.it_interval.tv_sec, ospec.it_interval.tv_nsec);		printf("\ntest 21: timer_gettime good timer id, NULL timespec pointer: expect failure\n");	retval = timer_gettime(t, NULL);	if (retval) {		perror("timer_gettime() failed");	}	assert(retval == -1);	printf("\ntest 23: timer_gettime good timer id, good timespec pointer\n");	retval = timer_gettime(t, &ispec);	if (retval) {		perror("timer_gettime() failed");	}	assert(retval == 0);	printf("timer_gettime: value=%ld.%09ld, interval=%ld.%09ld\n",	       ispec.it_value.tv_sec, ispec.it_value.tv_nsec,	       ispec.it_interval.tv_sec, ispec.it_interval.tv_nsec);	printf("\ntest 24: send ALRM signal to self with kill()\n");	reset_ref_time();	sival_expected = -1;	retval = kill(getpid(), SIGALRM);	if (retval) {		perror("kill(myself with SIGALRM) failed");	}	assert(retval == 0);        usleep(1); // only to call the scheduler.	rtl_sigemptyset(&set);	rtl_sigaddset(&set, SIGALRM);	sigprocmask(SIG_BLOCK, &set, NULL);		printf("\ntest 26: send ALRM signal to self with kill() (signal blocked)\n");	retval = kill(getpid(), SIGALRM);	if (retval) {		perror("kill(myself with SIGALRM) failed");	}	assert(retval == 0);	usleep(1); // only to call the scheduler.	printf("\ntest 30: timer_gettime()\n");	sleep(1);	retval = timer_gettime(t, &ispec);	if (retval) {		perror("timer_gettime() failed");	}	assert(retval == 0);	printf("timer_gettime: value=%ld.%09ld, interval=%ld.%09ld\n",	       ispec.it_value.tv_sec, ispec.it_value.tv_nsec,	       ispec.it_interval.tv_sec, ispec.it_interval.tv_nsec);	rtl_printf(" wait for timer expiration of test 18 \n");	sleep(1);		/* wait for timer expiration of test 18 */	printf("\ntest 32: timer_gettime: deleted timer and NULL itimer_spec: expect failure\n");	retval = timer_gettime(tt[1], NULL);	if (retval) {		perror("timer_gettime() failed");	}	assert(retval == -1);	/*	 * Test to see if timer goes off immediately if not a future time is	 * provided with TIMER_ABSTIME 	 */	printf("\ntest 35: set up timer to go off immediately, followed by 10 ticks at 10 Hz\n");	ispec.it_value.tv_nsec = 1;	rtl_printf("ispec.it_value.tv_nsec:%d\n",ispec.it_value.tv_sec);	ispec.it_interval.tv_sec = 0;	ispec.it_interval.tv_nsec = 100000000;	reset_ref_time();	retval = timer_settime(t2, TIMER_ABSTIME, &ispec, &ospec);	if (retval) {		perror("timer_settime(TIMER_ABSTIME) failed");	}	printf("timer should have expired now\n");	printf("timer_settime: old setting value=%ld.%09ld, interval=%ld.%09ld\n",	       ospec.it_value.tv_sec, ospec.it_value.tv_nsec,	       ospec.it_interval.tv_sec, ospec.it_interval.tv_nsec);	retval = timer_gettime(t, &ispec);	if (retval) {		perror("timer_gettime() failed");	}	printf("timer_gettime: value=%ld.%09ld, interval=%ld.%09ld\n",	       ispec.it_value.tv_sec, ispec.it_value.tv_nsec,	       ispec.it_interval.tv_sec, ispec.it_interval.tv_nsec);	printf("catch 10 signals\n");	rtl_sigfillset(&set);	rtl_sigdelset(&set,SIGRTMIN);	for (i = 0; i < 10; i++) {	  sigsuspend(&set);	  rtl_printf("Number of signals catched %d\n",i);	}	pthread_exit(NULL);	return 0;}int init_module(void){	printf("\ntest 7: attempt to create too many timers: don't expect failure in RTLinux while there is free memory\n");	for (i = 0; i < MAX_NOF_TIMERS; i++) {	  	retval = timer_create(CLOCK_REALTIME, NULL, &tt[i]);		if (retval) {			rtl_printf("timer_create(CLOCK_REALTIME) %d failed: %d\n", i, strerror(errno));			break;		}	}        if ( i < MAX_NOF_TIMERS) {                assert((i > 30) && (retval == -1));                j = i;        }else {                assert( (i == MAX_NOF_TIMERS) && (retval != -1));                rtl_printf( "timer_create(CLOCK_REALTIME) %d timers created\n",i);                j = i ;        }	printf("\ntest 8: delete these timers: don't expect failure in RTLinux\n");	for (i = 0; i < j; i++) {	  	retval = timer_delete(tt[i]);		if (retval) {			rtl_printf("timer_delete(CLOCK_REALTIME) %d failed: %d\n", i, strerror(errno));			break;		}	}	assert(retval == 0);	printf("\ntest 9: create default timer\n");	retval = timer_create(CLOCK_REALTIME, NULL, &t);	if (retval) {		perror("timer_create(CLOCK_REALTIME) failed");	}	assert(retval == 0);		printf("\ntest 31: timer_delete()\n");	retval = timer_delete(t);	if (retval) {		perror("timer_delete(deleted timer) failed");	}	assert(retval == 0);	/*	 * test to check timer cancellation by deletion	 */	printf("\ntest 33: create default timer\n");	retval = timer_create(CLOCK_REALTIME, NULL, &t);	if (retval) {		perror("timer_create(CLOCK_REALTIME) failed");	}		retval = clock_gettime(CLOCK_REALTIME, &ispec.it_value);	if (retval) {	  perror("clock_gettime(CLOCK_REALTIME) failed");	}	/*         * Test to see if timer goes off immediately if not a future time is         * provided with TIMER_ABSTIME         */        printf("\ntest 35: set up timer to go off immediately, followed by 10 ticks at 10 Hz\n");        timer_event_spec.sigev_notify = SIGEV_SIGNAL;        timer_event_spec.sigev_signo = SIGRTMIN + 0;        sival_expected = timer_event_spec.sigev_value.sival_int = 0x1234;        retval = timer_create(CLOCK_REALTIME, &timer_event_spec, &t2);	        retval = clock_gettime(CLOCK_REALTIME, &ispec.it_value);        if (retval) {          perror("clock_gettime(CLOCK_REALTIME) failed");        }	rtl_printf("Create test thread.\n");	pthread_create(&th,NULL,th_code,(int *) 0);	return 0;}void cleanup_module(void){  int retval;  printf("\ntest 31: timer_delete()\n");  retval = timer_delete(t);  if (retval) {    perror("timer_delete(existing timer) failed");  }  assert(retval == 0);    retval = timer_delete(t2);  if (retval) {    perror("timer_delete(existing timer) failed");  }  assert(retval == 0);  printf("\ntest 1: delete non existing timer: expect failure\n");  retval = timer_delete((PAGE_OFFSET+10000));  if (retval) {    perror("timer_delete(bogus timer) failed");  }  assert(retval == -1);      printf("\ntest 4: delete timer again: expect failure\n");  retval = timer_delete(t);  if (retval) {    perror("timer_delete(deleted timer) failed");  }  assert(retval == -1);  printf("\ntest 5: delete non-existing timer: expect failure\n");  retval = timer_delete(0);  if (retval) {    perror("timer_delete(0) failed");  }  assert(retval == -1);    rtl_printf("\nDeleting test thread\n");  pthread_delete_np(th);  }