On Sat, 2007-09-15 at 21:55 +0200, Bachman Kharazmi wrote:
> Hi Philippe,
>
> I'm testing the snippet example code from:
> http://svn.gna.org/viewcvs/xenomai/trunk/ksrc/skins/native/snippets/pipe.c?rev=525&view=markup
> without touching the code at all.
Redirected to xenomai-help. Please always use the mailing list for such
questions.
>
> But there seem to be issues during compile :/
> sandbox:/home/bkw/code/driver_v5# make
> gcc -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__XENO__
> -L/usr/xenomai/lib -lpthread -lnative -lrtdm -Xlinker -rpath -Xlinker
> /usr/xenomai/lib simpledriver_v5.c -o simpledriver_v5
> simpledriver_v5.c:47: error: expected '=', ',', ';', 'asm' or
> '__attribute__' before 'task_desc'
> simpledriver_v5.c: In function 'task_body':
> simpledriver_v5.c:51: error: 'RT_PIPE_MSG' undeclared (first use in
> this function)
> simpledriver_v5.c:51: error: (Each undeclared identifier is reported only once
> simpledriver_v5.c:51: error: for each function it appears in.)
> simpledriver_v5.c:51: error: 'msgout' undeclared (first use in this function)
> simpledriver_v5.c:51: error: 'msgin' undeclared (first use in this function)
> simpledriver_v5.c:69: warning: passing argument 1 of 'strcpy' makes
> pointer from integer without a cast
> simpledriver_v5.c:74: error: 'msg' undeclared (first use in this function)
> simpledriver_v5.c: At top level:
> simpledriver_v5.c:81: error: expected '=', ',', ';', 'asm' or
> '__attribute__' before 'init_module'
> simpledriver_v5.c: In function 'cleanup_module':
> simpledriver_v5.c:106: error: 'task_desc' undeclared (first use in
> this function)
> make: *** [simpledriver_v5] Error 1
>
> Is the purpose that the example code should be more or less compilable?
>
No, as you can see, it looks like a boilerplate, basically because...it
is a boilerplate.
Here is a compilable one, made of two separate items: a kernel module,
and a userland program, both communicating through a message pipe.
Finding what this example does and how to compile it is left to your
interpretation.
> thanks,
> Bachman
--
Philippe.
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <native/task.h>
int main (int argc, char *argv[])
{
int fd, count;
char c = 'x';
fd = open("/proc/xenomai/registry/native/pipes/data_pipe", O_RDWR);
if (fd < 0) {
perror("open");
return 1;
}
while (read(fd,&count,sizeof(count)) == sizeof(count)) {
printf("Count: %d\n", count);
write(fd,&c,sizeof(c));
}
close(fd);
return 0;
}
/*
* This is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published
* by the Free Software Foundation; either version 2 of the License,
* or (at your option) any later version.
*
* This software is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Xenomai; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
#include <native/task.h>
#include <native/pipe.h>
#define TASK_PRIO 99 /* Highest RT priority */
#define TASK_MODE T_CPU(0) /* Bound to CPU #0 */
#define TASK_STKSZ 4096 /* Stack size (in bytes) */
static RT_TASK task_desc;
static RT_PIPE pipe_desc;
int task_period_ns = 1000000000;
module_param(task_period_ns,int,0444);
MODULE_PARM_DESC(task_period_ns, "period in ns (default: 1s)");
static void demo_task(void *cookie)
{
int err, count;
char c;
err = rt_task_set_periodic(NULL, TM_NOW,
rt_timer_ns2ticks(task_period_ns));
if (err) {
printk("rt_task_set_periodic() failed: code %d\n", err);
rt_task_suspend(NULL);
}
for (count = 0;;) {
err = rt_task_wait_period(NULL);
if (err) {
if (err != -ETIMEDOUT) {
printk("rt_task_wait_period() failed: code %d\n", err);
rt_task_suspend(NULL);
}
continue;
}
rt_pipe_write(&pipe_desc, &count, sizeof(count), P_NORMAL);
if (rt_pipe_read(&pipe_desc, &c, sizeof(c), TM_INFINITE) == 1)
++count;
}
}
int demo_init(void)
{
int err;
err = rt_pipe_create(&pipe_desc, "data_pipe", P_MINOR_AUTO, 0);
if (err) {
printk("rt_pipe_create() failed: code %d\n", err);
goto fail;
}
err = rt_task_create(&task_desc,
"kernel_task",
TASK_STKSZ,
TASK_PRIO,
TASK_MODE);
if (err) {
printk("rt_task_create() failed: code %d\n", err);
goto fail;
}
err = rt_task_start(&task_desc, &demo_task, NULL);
if (err)
printk("rt_task_start() failed: code %d\n", err);
fail:
return err;
}
void demo_cleanup(void)
{
rt_task_delete(&task_desc);
rt_pipe_delete(&pipe_desc);
}
module_init(demo_init);
module_exit(demo_cleanup);
MODULE_LICENSE("GPL v2");
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