rtdemo.c

#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/timer.h>

RT_TASK task_A;
RT_TASK task_B;
/* NOTE: error handling omitted. */

void task_A_proc(void *arg)
{
	RTIME now, previous;

	/*
	 * Arguments: &task (NULL=self),
	 *            start time,
	 *            period (here: 1 s)
	 */
	rt_task_set_periodic(NULL, TM_NOW, 1000000000);
	previous = rt_timer_read();

	while (1) {
		rt_task_wait_period(NULL);
		now = rt_timer_read();

		/*
		 * NOTE: printf may have unexpected impact on the timing of
		 *       your program. It is used here in the critical loop
		 *       only for demonstration purposes.
		 */
		printf("Task A Time since last turn: %ld.%06ld ms\n",
		       (long)(now - previous) / 1000000,
		       (long)(now - previous) % 1000000);
		       previous = now;
	}
}

void task_B_proc(void *arg)
{
	RTIME now, previous;

	/*
	 * Arguments: &task (NULL=self),
	 *            start time,
	 *            period (here: 1 s)
	 */
	rt_task_set_periodic(NULL, TM_NOW, 500000000);
	previous = rt_timer_read();

	while (1) {
		rt_task_wait_period(NULL);
		now = rt_timer_read();

		/*
		 * NOTE: printf may have unexpected impact on the timing of
		 *       your program. It is used here in the critical loop
		 *       only for demonstration purposes.
		 */
		printf("Task B Time since last turn: %ld.%06ld ms\n",
		       (long)(now - previous) / 1000000,
		       (long)(now - previous) % 1000000);
		       previous = now;
	}
}

void catch_signal(int sig)
{
        printf("Signal:%d\n",sig);
}

int main(int argc, char* argv[])
{
	signal(SIGTERM, catch_signal);
	signal(SIGINT, catch_signal);

	/* Avoids memory swapping for this program */
	mlockall(MCL_CURRENT|MCL_FUTURE);

        printf("RT Task Demo\n");
	/*
	 * Arguments: &task,
	 *            name,
	 *            stack size (0=default),
	 *            priority,
	 *            mode (FPU, start suspended, ...)
	 */
	rt_task_create(&task_A, "rttask_a", 0, 99, 0);
	rt_task_create(&task_B, "rttask_b", 0, 98, 0);

	/*
	 * Arguments: &task,
	 *            task function,
	 *            function argument
	 */
	rt_task_start(&task_A, &task_A_proc, NULL);
	rt_task_start(&task_B, &task_B_proc, NULL);
	pause();
        printf("End! \n");
	rt_task_delete(&task_A);
	rt_task_delete(&task_B);
	return 0;
}