/* vim: set ts=4: *//* * Copywrite 2002 Der Herr Hofrat * License GPL V2 * Author der.herr@hofr.at *//* * example of using rtfifos to communicate between rt-threads */#include <rtl.h>#include <time.h>#include <pthread.h>#include <rtl_fifo.h>pthread_t p_thread,c_thread;struct msg_t{	unsigned long i;	unsigned long something_else;};void * consumer(void *arg){	struct sched_param p;	int ret;	struct msg_t msg;	p.sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	msg.i=0;	while (1) {		pthread_wait_np();		while ((ret = rtf_get(0,&msg,sizeof(msg))) == sizeof(msg)) {			rtl_printf("consumer thread woken - got msg %ld\n",msg.i);		}	}	return (void *)0;}void * producer(void *arg){	struct sched_param p;	struct msg_t msg;	p . sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	pthread_make_periodic_np (pthread_self(), gethrtime(), 500000000);	msg.i=0;	msg.something_else=0xff;	while (1) {		pthread_wait_np();		rtl_printf("producer sending msg %ld\n",msg.i);		rtf_put(0,&msg,sizeof(msg));		msg.i++;	}	return (void *)0;}int p_to_c(unsigned int fifo){	/* wake up the consumer thread when data arived in rtf0 */	pthread_wakeup_np(c_thread);	return 0;}int init_module(void) {	int retval;	/* the fifo to pass data from the producer to the consumer */	rtf_destroy(0);	rtf_create(0,4000);	retval=pthread_create(&p_thread,NULL,producer, (void *)0);	if(retval){		printk("pthread create failed\n");		rtf_destroy(0);		return -1;	}	retval=pthread_create(&c_thread,NULL,consumer, (void *)0);	if(retval){		printk("pthread create failed\n");		rtf_destroy(0);		pthread_delete_np (p_thread);		pthread_join(p_thread,(void *)&retval);		return -1;	}	rtf_create_rt_handler(0, &p_to_c); 	return 0;}void cleanup_module(void) {	int retval;	/* kill the producer first */	pthread_delete_np (p_thread);	pthread_join(p_thread,(void *)&retval);	printk("producer thread terminated with %d\n",		retval);	/* now terminate the consumer */	pthread_delete_np (c_thread);	pthread_join(c_thread,(void *)&retval);	printk("consumer thread terminated with %d\n", 		retval);	rtf_destroy(0);}