#include <linux/module.h>#include <linux/kernel.h>#include <linux/version.h>#include <linux/errno.h>#include <rtl_sched.h>#include "../rt_ipc.h"static char *strs[] = { "Joey ", "Johnny ", "Dee Dee ", "Marky " };static char sync_str[] = "gabba\n";#define NUM_TASKS	(sizeof(strs) / sizeof(char *))RT_TASK_IPC start_task, tasks[NUM_TASKS];rt_sem_t sems[NUM_TASKS], sync_sem, prio_sem;rt_mq_t mq_in, mq_out;#define DBG_PRINT_SETUP		rt_sem_t print_sem;#define DBG_PRINT_INIT		rt_sem_init(&print_sem, RT_SEM_BINARY, 1);#define TAKE_PRINT		rt_sem_wait(&print_sem, RT_WAIT_FOREVER);#define GIVE_PRINT		rt_sem_post(&print_sem);DBG_PRINT_SETUP/* *  Each task waits to receive the semaphore, prints its string, and *  passes the semaphore to the next task.  Then it sends a sync semaphore, *  and waits for another semaphore, and this time displays it in *  priority order.  Finally, message queues are tested. */void task_code(int task_no){  int i, ret;  char buf[20];  for (i=0 ; i<5 ; ++i)  {    rt_sem_wait(&sems[task_no], RT_WAIT_FOREVER);    printk(strs[task_no]);    if (task_no == NUM_TASKS-1)      printk("\n");    rt_sem_post(&sems[(task_no + 1) % NUM_TASKS]);  }  rt_sem_post(&sync_sem);  rt_sem_wait(&prio_sem, RT_WAIT_FOREVER);  printk(strs[task_no]);  rt_task_delay(RELATIVE_TIME(RT_TICKS_PER_SEC));  rt_sem_wait(&prio_sem, RELATIVE_TIME((task_no+1) * RT_TICKS_PER_SEC));  printk(strs[task_no]);  rt_sem_post(&sync_sem);  /* message queue stuff */  if ((ret = rt_mq_receive(&mq_in, buf, RT_WAIT_FOREVER)) != 0)    printk("rt_mq_receive() failed with %d\n", ret);  TAKE_PRINT; printk("\nreceived by task %d ", task_no);  printk(buf); GIVE_PRINT;  rt_mq_send(&mq_out, strs[task_no], RT_MQ_NORMAL, RT_WAIT_FOREVER);  /* test receive timeout */  rt_sem_wait(&sync_sem, RT_WAIT_FOREVER);  if (rt_mq_receive(&mq_in, buf, RELATIVE_TIME(RT_TICKS_PER_SEC*(task_no+1))) == -ETIME)    { TAKE_PRINT; printk("task %d timed out.\n", task_no); GIVE_PRINT; }  rt_task_suspend(MAKE_RT_TASK(&tasks[task_no]));}/* * initialization task */void start_task_code(int notused){  int i;  DBG_PRINT_INIT;  if (rt_mq_init(&mq_in, NUM_TASKS, 20) || rt_mq_init(&mq_out, NUM_TASKS, 20))  {    printk("could not create message queue\n");    return;  }  for (i=0 ; i<NUM_TASKS ; ++i)  {    if (rt_sem_init(&sems[i], RT_SEM_BINARY, 0) != 0)    {      printk("rt_sem_init failed\n");      return;    }    if (rt_task_ipc_init(&tasks[i], task_code, i, 3000, NUM_TASKS-i) != 0)    {      printk("rt_task_ipc_init failed\n");      return;    }    rt_task_wakeup(MAKE_RT_TASK(&tasks[i]));  }	  /* create the sync semaphore */  if (rt_sem_init(&sync_sem, RT_SEM_COUNTING, 0) != 0)  {    printk("rt_sem_init failed on sync_sem\n");    return;  }  /* create the priority-test semaphore */  if (rt_sem_init(&prio_sem, RT_SEM_BINARY, 0) != 0)  {    printk("rt_sem_init failed on prio_sem\n");    return;  }  /* pass the semaphore to the first task */  rt_sem_post(&sems[0]);  /* wait for each task to send the sync semaphore */  for (i=0 ; i<NUM_TASKS ; ++i)    rt_sem_wait(&sync_sem, RT_WAIT_FOREVER);  printk(sync_str);  /* post the priority-test semaphore -- the tasks should then run */  /* in priority order */  for (i=0 ; i<NUM_TASKS ; ++i)    rt_sem_post(&prio_sem);  printk("\n");  for (i=0 ; i<NUM_TASKS ; ++i)    rt_sem_wait(&sync_sem, RT_WAIT_FOREVER);  printk(sync_str);  /* now, test message queues */  printk("testing message queues\n");  for (i=0 ; i<NUM_TASKS ; ++i)    if (rt_mq_send(&mq_in, strs[i], RT_MQ_NORMAL, RT_WAIT_FOREVER))      printk("rt_mq_send() failed\n");  for (i=0 ; i<NUM_TASKS ; ++i)  {    char buf[20];    rt_mq_receive(&mq_out, buf, RT_WAIT_FOREVER);    TAKE_PRINT; printk("\nreceived from mq_out: %s", buf); GIVE_PRINT;  }  for (i=0 ; i<NUM_TASKS ; ++i)    rt_sem_post(&sync_sem);  TAKE_PRINT; printk("\ninit task complete\n"); GIVE_PRINT;  /* nothing more for this task to do */  rt_task_suspend(MAKE_RT_TASK(&start_task));}int init_module(void){  if (rt_task_ipc_init(&start_task, start_task_code, 0, 3000, 10) != 0)    printk("Could not start init task\n");  rt_task_wakeup(MAKE_RT_TASK(&start_task));  return 0;}void cleanup_module(void){  int i;  for (i=0 ; i<NUM_TASKS ; ++i)  {    rt_sem_destroy(&sems[i]);    rt_task_ipc_delete(&tasks[i]);  }  rt_sem_destroy(&sync_sem);  rt_mq_destroy(&mq_in);  rt_mq_destroy(&mq_out);  rt_task_ipc_delete(&start_task);}