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#include <stdio.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/types.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <rtl_fifo.h>
#include <rtl_time.h>
#include "control.h"
#define BUFSIZE 70
char buf[BUFSIZE];
int main()
{
fd_set rfds;
struct timeval tv;
int retval;
int fd0, fd1, ctl;
int n;
int i;
struct my_msg_struct msg;
if ((fd0 = open("/dev/rtf1", O_RDONLY)) < 0) {
fprintf(stderr, "Error opening /dev/rtf1\n");
exit(1);
}
if ((fd1 = open("/dev/rtf2", O_RDONLY)) < 0) {
fprintf(stderr, "Error opening /dev/rtf2\n");
exit(1);
}
if ((ctl = open("/dev/rtf3", O_WRONLY)) < 0) {
fprintf(stderr, "Error opening /dev/rtf3\n");
exit(1);
}
/* now start the tasks */
msg.command = START_TASK;
msg.task = 0;
msg.period = 500000;
if (write(ctl, &msg, sizeof(msg)) < 0) {
fprintf(stderr, "Can't send a command to RT-task\n");
exit(1);
}
msg.task = 1;
msg.period = 200000;
if (write(ctl, &msg, sizeof(msg)) < 0) {
fprintf(stderr, "Can't send a command to RT-task\n");
exit(1);
}
for (i = 0; i < 100; i++) {
FD_ZERO(&rfds);
FD_SET(fd0, &rfds);
FD_SET(fd1, &rfds);
tv.tv_sec = 1;
tv.tv_usec = 0;
retval = select(FD_SETSIZE, &rfds, NULL, NULL, &tv);
if (retval > 0) {
if (FD_ISSET(fd0, &rfds)) {
n = read(fd0, buf, BUFSIZE - 1);
buf[n] = 0;
printf("FIFO 1: %s\n", buf);
}
if (FD_ISSET(fd1, &rfds)) {
n = read(fd1, buf, BUFSIZE - 1);
buf[n] = 0;
printf("FIFO 2: %s\n", buf);
}
}
}
fprintf(stderr, "frank_app: now sending commands to stop RT-tasks\n");
/* stop the tasks */
msg.command = STOP_TASK;
msg.task = 0;
if (write(ctl, &msg, sizeof(msg)) < 0) {
fprintf(stderr, "Can't send a command to RT-task\n");
exit(1);
}
msg.task = 1;
if (write(ctl, &msg, sizeof(msg)) < 0) {
fprintf(stderr, "Can't send a command to RT-task\n");
exit(1);
}
return 0;
}
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