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<title>Xenomai API: sigxcpu.c</title>
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<h1>sigxcpu.c</h1><div class="fragment"><pre class="fragment"><span class="preprocessor">#include <unistd.h></span>
<span class="preprocessor">#include <stdlib.h></span>
<span class="preprocessor">#include <stdio.h></span>
<span class="preprocessor">#include <string.h></span>
<span class="preprocessor">#include <signal.h></span>
<span class="preprocessor">#include <getopt.h></span>
<span class="preprocessor">#include <execinfo.h></span>
<span class="preprocessor">#include <<a class="code" href="task_8h.html" title="This file is part of the Xenomai project.">native/task.h</a>></span>
RT_TASK task;
<span class="keywordtype">void</span> task_body (<span class="keywordtype">void</span> *cookie)
{
<span class="comment">/* Ask Xenomai to warn us upon switches to secondary mode. */</span>
<a name="a0"></a><a class="code" href="group__task.html#g915e7edfb0aaddb643794d7abc7093bf" title="Change task mode bits.">rt_task_set_mode</a>(0, <a name="a1"></a><a class="code" href="group__native__task__status.html#g725324cb26d8b5835c0818acb738bfe6" title="See XNTRAPSW.">T_WARNSW</a>, NULL);
<span class="comment">/* A real-time task always starts in primary mode. */</span>
<span class="keywordflow">for</span> (;;) {
<a name="a2"></a><a class="code" href="group__task.html#gd5225e5fb8d583fbdfa5299f322b8366" title="Delay the calling task (relative).">rt_task_sleep</a>(1000000000);
<span class="comment">/* Running in primary mode... */</span>
printf(<span class="stringliteral">"Switched to secondary mode\n"</span>);
<span class="comment">/* ...printf() => write(2): we have just switched to secondary</span>
<span class="comment"> mode: SIGXCPU should have been sent to us by now. */</span>
}
}
<span class="keywordtype">void</span> warn_upon_switch(<span class="keywordtype">int</span> sig __attribute__((unused)))
{
<span class="keywordtype">void</span> *bt[32];
<span class="keywordtype">int</span> nentries;
<span class="comment">/* Dump a backtrace of the frame which caused the switch to</span>
<span class="comment"> secondary mode: */</span>
nentries = backtrace(bt,<span class="keyword">sizeof</span>(bt) / <span class="keyword">sizeof</span>(bt[0]));
backtrace_symbols_fd(bt,nentries,fileno(stdout));
}
<span class="keywordtype">int</span> main (<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)
{
<span class="keywordtype">int</span> err;
signal(SIGXCPU, warn_upon_switch);
err = <a name="a3"></a><a class="code" href="group__task.html#g03387550693c21d0223f739570ccd992" title="Create a new real-time task.">rt_task_create</a>(&task,<span class="stringliteral">"mytask"</span>,0,1,T_FPU);
<span class="keywordflow">if</span> (err)
{
fprintf(stderr,<span class="stringliteral">"failed to create task, code %d\n"</span>,err);
<span class="keywordflow">return</span> 0;
}
err = <a name="a4"></a><a class="code" href="group__task.html#gc9638918b8310a430088f5c9a04d2bb7" title="Start a real-time task.">rt_task_start</a>(&task,&task_body,NULL);
<span class="keywordflow">if</span> (err)
{
fprintf(stderr,<span class="stringliteral">"failed to start task, code %d\n"</span>,err);
<span class="keywordflow">return</span> 0;
}
pause();
<span class="keywordflow">return</span> 0;
}
</pre></div> </div>
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