Hi,
I`m new to Xenomai and I`m experiencing some issues.
Why does a Xenomai thread (native skin) with an infinite loop hang the system,
though there are higher-priority RT-threads present, and
rt_task_set_mode periodically clears T_LOCK and T_SHIELD and sets T_RRB?
Isn`t the scheduler preemptive, first considering the thread`s priority and
subsequently the thread`s position in its priority`s ready queue?
I have attached some sample code.
Thanks for any hint,
Jack
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <signal.h>
#include <string.h>
#include <sys/time.h>
#include <sys/io.h>
#include <sys/mman.h>
#include <sys/types.h>
#include <native/task.h>
#include <native/queue.h>
#include <native/intr.h>
#include <native/timer.h>
#define STACK_SIZE 8192
#define PRIO 10
static RT_TASK timer_task_desc;
// ..s.ms.µs.ns
static RTIME task_period_ns = 0100000000llu;
static unsigned long overruns = 0;
static void clean_exit(int dummy) {
rt_task_delete(&timer_task_desc);
}
static void thread(void *cookie) {
int ret;
int i;
int c;
ret = rt_task_set_mode(T_LOCK, T_RRB, &c);
if (ret)
return;
ret = rt_task_set_periodic(NULL, TM_NOW, rt_timer_ns2ticks(task_period_ns));
if (ret)
return;
while (1) {
ret = rt_task_set_mode(T_LOCK | T_SHIELD, T_RRB | T_PRIMARY, NULL);
if (ret)
return;
ret = rt_task_wait_period(&overruns);
if (ret == -ETIMEDOUT) {
} else if (ret) {
clean_exit(0);
}
while (1); /* infinite loop */
}
kill(0, SIGTERM);
}
int main(int argc, char** argv) {
int err;
signal(SIGTERM, clean_exit);
signal(SIGINT, clean_exit);
mlockall(MCL_CURRENT | MCL_FUTURE);
err = rt_task_spawn(&timer_task_desc, "thread", STACK_SIZE, PRIO, 0, &thread,
NULL);
if (err)
return 0;
pause();
return EXIT_SUCCESS;
}
--
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