/****************************************************************************** Product: QDPP example, 80x86, Win32, Visual C++ 6.0* Last Updated for Version: 3.4.00* Date of the Last Update:  Sep 03, 2007**                    Q u a n t u m     L e a P s*                    ---------------------------*                    innovating embedded systems** Copyright (C) 2002-2007 Quantum Leaps, LLC. All rights reserved.** This software may be distributed and modified under the terms of the GNU* General Public License version 2 (GPL) as published by the Free Software* Foundation and appearing in the file GPL.TXT included in the packaging of* this file. Please note that GPL Section 2[b] requires that all works based* on this software must also be made publicly available under the terms of* the GPL ("Copyleft").** Alternatively, this software may be distributed and modified under the* terms of Quantum Leaps commercial licenses, which expressly supersede* the GPL and are specifically designed for licensees interested in* retaining the proprietary status of their code.** Contact information:* Quantum Leaps Web site:  http://www.quantum-leaps.com* e-mail:                  info@quantum-leaps.com*****************************************************************************/#include "qf_port.h"#include "qs_port.h"#include "qassert.h"#include "qdpp.h"#include <stdlib.h>#include <stdio.h>#include <sys/select.h>#include <termios.h>#include <unistd.h>Q_DEFINE_THIS_FILE/*--------------------------------------------------------------------------*/#ifdef Q_SPYstatic FILE *l_qsFile;enum QSQHsmTstRecords {    QS_QDPP_DISPLAY = QS_USER};uint8_t QS_init(void const *arg) {    static uint8_t qsBuf[1024];                /* 1K buffer for Quantum Spy */    QS_initBuf(qsBuf, sizeof(qsBuf));    l_qsFile = fopen((char const *)arg, "wb");              /* write binary */    return (uint8_t)(l_qsFile != (FILE *)0);}/*..........................................................................*/void QS_exit(void) {    if (l_qsFile != (FILE *)0) {        fclose(l_qsFile);    }}/*..........................................................................*/#define QS_DUMP() do { \    uint16_t nBytes = 1000; \    uint8_t const *block = QS_getBlock(&nBytes); \    if (block != (uint8_t *)0) { \        fwrite(block, 1, nBytes, l_qsFile); \    } \} while (0)/*..........................................................................*/void QS_flush(void) {    uint32_t nBytes = 1000;    uint8_t const *block;    while ((block = QS_getBlock(&nBytes)) != (uint8_t *)0) {        fwrite(block, 1, nBytes, l_qsFile);        nBytes = 1000;    }}/*..........................................................................*/QSTimeCtr QS_getTime(void) {    return (QSTimeCtr)QF_getTime();}#endif                                                             /* Q_SPY *//*--------------------------------------------------------------------------*/static void *idleThread(void *me) {      /* the expected P-Thread signature */    struct timeval timeout = { 0 };                 /* timeout for select() */    struct termios tio;                     /* modified terminal attributes */    tcgetattr(0, &tio);           /* obtain the current terminal attributes */    tio.c_lflag &= ~(ICANON | ECHO);   /* disable the canonical mode & echo */    tcsetattr(0, TCSANOW, &tio);                  /* set the new attributes */    while (QF_running_) {        fd_set con;                      /* FD set representing the console */        FD_ZERO(&con);        FD_SET(0, &con);        timeout.tv_usec = 8000;        /* sleep for the full tick or until a console input arrives, NOTE01 */        if (0 != select(1, &con, 0, 0, &timeout)) {  /* any descriptor set? */            char ch;            read(0, &ch, 1);            if (ch == '\33') {                              /* ESC pressed? */                QF_publish(Q_NEW(QEvent, TERMINATE_SIG));            }        }        QS_DUMP();                         /* dump a chunk of QS trace data */    }    return (void *)0;                                     /* return success */}/*..........................................................................*/void BSP_init(int argc, char *argv[]) {    pthread_attr_t attr;    struct sched_param param;    pthread_t idle;    char const *hostAndPort = "qs.bin";    if (argc > 1) {                                      /* port specified? */        hostAndPort = argv[1];    }    if (!QS_INIT(hostAndPort)) {        printf("\nUnable to open QSpy socket\n");        exit(-1);    }    pthread_attr_init(&attr);    /* SCHED_FIFO corresponds to real-time preemptive priority-based scheduler    * NOTE: This scheduling policy requires the superuser priviledges    */    pthread_attr_setschedpolicy(&attr, SCHED_FIFO);    param.sched_priority = sched_get_priority_min(SCHED_FIFO);    pthread_attr_setschedparam(&attr, &param);    pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);    if (pthread_create(&idle, &attr, &idleThread, 0) != 0) {               /* Creating the p-thread with the SCHED_FIFO policy failed.               * Most probably this application has no superuser privileges,               * so we just fall back to the default SCHED_OTHER policy               * and priority 0.               */        pthread_attr_setschedpolicy(&attr, SCHED_OTHER);        param.sched_priority = 0;        pthread_attr_setschedparam(&attr, &param);        Q_ALLEGE(pthread_create(&idle, &attr, &idleThread, 0) == 0);    }    pthread_attr_destroy(&attr);}/*..........................................................................*/void displyPhilStat(uint8_t n, char const *stat) {    printf("Philosopher %2d is %s\n", (int)n, stat);    QS_BEGIN(QS_QDPP_DISPLAY, QS_apObj_);        QS_U8(1, n);        QS_STR(stat);    QS_END();}/*..........................................................................*/void Q_assert_handler(char const *file, int line) {    fprintf(stderr, "Assertion failed in %s, line %d", file, line);    QF_exit();}/******************************************************************************* NOTE01:* The select() system call seems to deliver the finest time granularity of* 1 clock tick. The timeout value passed to select() is rounded up to the* nearest tick (10 ms on desktop Linux). The timeout cannot be too short,* because the system might choose to busy-wait for very short timeouts.* An alternative, POSIX nanosleep() system call seems to deliver only 20ms* granularity.** Here the select() call is used not just as a fairly portable way to sleep* with subsecond precision. The select() call is also used to detect any* characters typed on the console.** Also according to man pages, on Linux, the function select() modifies* timeout to reflect the amount of time not slept; most other implementations* do not do this. This causes problems both when Linux code which reads* timeout is ported to other operating systems, and when code is ported to* Linux that reuses a struct timeval for multiple selects in a loop without* reinitializing it. Here the microsecond part of the structure is re-* initialized before each select() call.*/