/* * Added user signals to timed semaphores test, * Dec, 2002 Josep Vidal <jvidal@disca.upv.es> (OCERA) */#include <rtl.h>#include <rtl_sema.h>#include <rtl_sched.h>#define NTASKS 3#define ONEMILISEC (long long)1000*1000static pthread_t thread[NTASKS];long long start_time=0;static sem_t sem;static void sig_handler(int sig_rec) {  unsigned int thread_no;  thread_no=(unsigned int)(sig_rec-RTL_SIGRTMIN);  rtl_printf("I'm thread %d, temporally blocked (sem_timedwait) on a semaphore...\n",thread_no);  rtl_printf("but signals handlers are executed regardless being blocked in a sem\n");  rtl_printf("After finishing handler execution for signal:%d, I will exit from the semaphore\n",sig_rec);}static void *start_routine(void *arg) {  struct sched_param p;  struct sigaction sa;  int signal=0,err=0,j;  int param=(unsigned) arg;  rtl_sigset_t mask;  p . sched_priority =1;//param;  pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);  sa.sa_handler=sig_handler;  sa.sa_mask=0;  sa.sa_flags=0;  // Block all signals except the ones you want to receive.  if (param) {    rtl_sigfillset(&mask);    signal=RTL_SIGRTMIN+param;    rtl_sigdelset(&mask,signal);    pthread_sigmask(SIG_SETMASK,&mask,NULL);    rtl_printf("I am thread %d, programing handler for signal:%d\n",param,signal);    if ((err=sigaction(signal,&sa,NULL))<0 ) {      rtl_printf("sigaction(%d,&sa,NULL) FAILING, err:%d.\n",signal,err);    }  }  if (!param) {    sem_wait(&sem);    usleep(1000);    rtl_printf("\n\n\n\n -- WAITING FOR THE OTHER TASKS -- \n\n\n");    rtl_printf("THREAD %d--> I want to signal not odd threads\n",param);    for (j=1;j<NTASKS;j++) {      if(thread[j]->magic!=RTL_THREAD_MAGIC)        rtl_printf("TEST PANIC!!!!!! thread %d not a valid thread\n",j);      // Send signals only to not odd numbers.      if (!(j%2))        pthread_kill(thread[j],RTL_SIGRTMIN+j);    }  } else {    rtl_sigfillset(&mask);    rtl_sigdelset(&mask,signal);    pthread_sigmask(SIG_SETMASK,&mask,NULL);    rtl_printf("THREAD %d. Just before adquiring the sem and getting blocked.\n",param);    /* Ten seconds */    err = sem_timedwait (&sem, hrt2ts(clock_gethrtime(CLOCK_REALTIME) + 1000*1000*1000LL * 2));    rtl_printf("THREAD %d. Something has take me from my timed wait ->errno:%d.\n",param,errno);    if (!(param % 2)) {      if (errno == EINTR) {        rtl_printf("\n\n TEST SUCCESFULLY PASSED!!!! A signal has take thread %d out from the semaphore errno %d \n\n",param,errno);      } else {        rtl_printf("\n\n TEST NOT PASSED for thread %d\n\n",param);      }    }  }  pthread_make_periodic_np(pthread_self(), gethrtime(),1000*1000*1000);  while(1)    pthread_wait_np();  return 0;}int init_module(void) {  int i;  sem_init(&sem,0,1);  start_time=gethrtime()+1000*ONEMILISEC;  // Threads creation.  for (i=0;i<NTASKS;i++)    pthread_create (&thread[i], NULL, start_routine,(void *) i);  return 0;}void cleanup_module(void) {  int i;  for (i=0;i<NTASKS;i++) {    pthread_cancel (thread[i]);    pthread_join (thread[i], NULL);    //pthread_delete_np (thread[i]);  }  sem_destroy(&sem);}