#include <stdio.h>#include <sys/time.h>#include <unistd.h>#include <rtlinux_signal.h>#define SAMPLES_PER_ROUND 50#define ROUNDS 50#undef TEST_LINUXhrtime_t times[SAMPLES_PER_ROUND];volatile int testnum = 0;hrtime_t period = 30000 * 1000;void rtlinux_handler(int whatever){	times[testnum++] = gethrtime();}#ifdef TEST_LINUXvoid linux_handler(void){	struct timeval tv;	while (testnum < SAMPLES_PER_ROUND )	{		gettimeofday(&tv,NULL);		times[testnum++] = (hrtime_t)tv.tv_usec*1000;		usleep(period/1000);	}}#endifint main(void){	hrtime_t diff;	hrtime_t min = HRTIME_INFINITY, max = 0, total = 0;	struct rtlinux_sigaction mysig, oldsig;	int i, j;	FILE *f;		if ( (f = fopen("gnuplot.out", "w")) == NULL )	{		fprintf(stderr,"Cannot open gnuplot.out\n");		perror("open");		exit(-1);	}	/* for each of the testing rounds */	for ( i = 0; i < ROUNDS ; i++ )	{		/* test RTLinux first */		/* setup the handler for our timer */		mysig.sa_handler = rtlinux_handler;		mysig.sa_flags = RTLINUX_SA_PERIODIC;		mysig.sa_period = period;		if ((rtlinux_sigaction(RTLINUX_SIGTIMER0, &mysig, &oldsig)))		{			perror("rtlinux_sigaction");			return (-1);		}		/* wait for the tests to run */		while ( testnum < SAMPLES_PER_ROUND )			usleep(1000);		/* free the handler */		mysig.sa_handler = RTLINUX_SIG_IGN;		if ((rtlinux_sigaction(RTLINUX_SIGTIMER0, &mysig, &oldsig)))		{			perror("rtlinux_sigaction");			return (-1);		}		for ( j = 1; j < SAMPLES_PER_ROUND; j++ )		{			if (max < (times[j] - times[j-1]) )				max = times[j] - times[j-1];			if (min > (times[j] - times[j-1]) )				min = times[j] - times[j-1];			total += times[j] - times[j-1];		}		fprintf(f ,"%d %ld %ld %ld ",			i, (long)min/1000, (long)((total/(SAMPLES_PER_ROUND-1))/1000),			(long)max/1000);		printf("RTLinux min: %ld us avg: %ld us max: %ld us\n",		       (long)(min/1000), (long)((total/(SAMPLES_PER_ROUND-1))/1000),		       (long)(max/1000));		max = total = 0;		min = HRTIME_INFINITY;		testnum = 0;#ifdef TEST_LINUX		/* test Linux */		linux_handler();		for ( j = 1; j < SAMPLES_PER_ROUND; j++ )		{			hrtime_t diff = times[j] - times[j-1];			/* counter rolled */			if ( diff < 0 )				diff = times[j] + ((hrtime_t)1000000000 - times[j-1]);			if (max < diff )				max = diff;			if (min > diff)				min = diff;			total += diff;		}		fprintf(f ,"%ld %ld %ld %ld",			(long)min/1000, (long)((total/(SAMPLES_PER_ROUND-1))/1000),			(long)max/1000, (long)period/1000);		fflush(f);		printf("Linux min: %ld avg: %ld us max: %ld us\n",		       (long)(min/1000), (long)((total/(SAMPLES_PER_ROUND-1))/1000),		       (long)(max/1000));#endif /* TEST_LINUX */		fprintf(f, "\n");		fflush(f);				max = total = 0;		min = HRTIME_INFINITY;		testnum = 0;	}	fclose(f);	return 0;}