Dear all,
Iam trying to communicate two process using message . In one process i
called a dummy function (doing nothing except printing something for 2000
times) .
Iam trying to calculate the time elapsed for this process to process
communication .
1. The program working fine if i print or execute something for once like
rt_printf("xenomai"); But if i used
for (i=0; i<2000; i++)
{
rt_printf("xenomai");
}
if i used like this the execution stops after printing for some 100 times or
so on my Pandaboard. Please find the attached program.
Thanks
Suresh balijepalli
Rosenehim,Baveria.
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>
#include <stdlib.h>
#include <native/task.h>
#include <native/timer.h>
#include <native/sem.h>
#include <native/mutex.h>
#include <native/queue.h>
#include <rtdk.h>
#define NTASKS 2
#define QUEUE_SIZE 255
#define MAX_MESSAGE_LENGTH 40
RT_TASK task_struct[NTASKS];
#define QUEUE_SIZE 255
RT_QUEUE myqueue;
RT_QUEUE myqueue1;
double timed_delay = 0;
int processing(void)
{
int k=0;/*k=0,i=3000;
char * buffer;
char a='a' ;
dummy operation*/
rt_printf("xenomai");
return k;
}
void taskOne(void *arg)
{
int retval,retval1,t1;
char message[] = "Message from taskOne";
char msgBuf1[MAX_MESSAGE_LENGTH];
RTIME start_tsc = rt_timer_tsc();
rt_printf("starting tics: %.3f\n",
rt_timer_tsc2ns(start_tsc)*1e-6);
/* send message */
retval = rt_queue_write(&myqueue,message,sizeof(message),Q_NORMAL);
if (retval < 0 ) {
rt_printf("Sending error\n");
} else {
rt_printf("taskOne sent message to mailbox\n");
}
/* receive message */
retval1 =rt_queue_read(&myqueue1,msgBuf1,sizeof(msgBuf1),TM_INFINITE);
if (retval1 < 0 ) {
rt_printf("Receiving error\n");
} else {
rt_printf("task1 received message: %s\n",msgBuf1);
rt_printf("with length %d\n",retval1);
}
t1=processing();
rt_printf("%d",t1);
RTIME tsc=rt_timer_tsc();
rt_printf("end tics: %.3f\n",
rt_timer_tsc2ns(tsc)*1e-6);
/*rt_printf("end tics: %.3f\n",
rt_timer_tsc2ns(tsc)*1e-6);
rt_printf(" time taken: %.3f\n",
rt_timer_ns2tsc(0.55)*1e-6);*/
timed_delay = rt_timer_tsc2ns(tsc-start_tsc)*1e-9;
rt_printf(" %.3f ms\n",
timed_delay * 1e3);
}
void taskTwo(void *arg)
{
int retval,retval1;
char msgBuf[MAX_MESSAGE_LENGTH];
char message1[] = "Message from tasktwo";
/* receive message */
retval = rt_queue_read(&myqueue,msgBuf,sizeof(msgBuf),TM_INFINITE);
if (retval < 0 ) {
rt_printf("Receiving error\n");
} else {
rt_printf("taskTwo received message: %s\n",msgBuf);
rt_printf("with length %d\n",retval);
}
/* send message */
retval1 = rt_queue_write(&myqueue1,message1,sizeof(message1),Q_NORMAL);
if (retval1 < 0 ) {
rt_printf("Sending error\n");
} else {
rt_printf("tasktwo sent message to mailbox\n");
}
}
//startup code
void startup()
{
int i,t1;
char str[10] ;
void (*task_func[NTASKS]) (void *arg);
task_func[0]=taskOne;
task_func[1]=taskTwo;
rt_queue_create(&myqueue,"myqueue",QUEUE_SIZE,10,Q_FIFO);
rt_queue_create(&myqueue1,"myqueue1",QUEUE_SIZE,10,Q_FIFO);
rt_timer_set_mode(0);// set timer to tick in nanoseconds and not in jiffies
for(i=0; i < NTASKS; i++) {
rt_printf("start task : %d\n",i);
sprintf(str,"task%d",i);
rt_task_create(&task_struct[i], str, 0, 50, 0);
rt_task_start(&task_struct[i], task_func[i], &i);
}
}
void init_xenomai() {
/* Avoids memory swapping for this program */
mlockall(MCL_CURRENT|MCL_FUTURE);
/* Perform auto-init of rt_print buffers if the task doesn't do so */
rt_print_auto_init(1);
}
int main(int argc, char* argv[])
{
printf("\nType CTRL-C to end this program\n\n" );
// code to set things to run xenomai
init_xenomai();
//startup code
startup();
pause();
}
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