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<title>Xenomai API: trivial-periodic.c</title>
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<h1>trivial-periodic.c</h1><div class="fragment"><pre class="fragment"><span class="preprocessor">#include <stdio.h></span>
<span class="preprocessor">#include <signal.h></span>
<span class="preprocessor">#include <unistd.h></span>
<span class="preprocessor">#include <sys/mman.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>
<span class="preprocessor">#include <<a class="code" href="include_2native_2timer_8h.html" title="This file is part of the Xenomai project.">native/timer.h</a>></span>
RT_TASK demo_task;
<span class="comment">/* NOTE: error handling omitted. */</span>
<span class="keywordtype">void</span> demo(<span class="keywordtype">void</span> *arg)
{
RTIME now, previous;
<span class="comment">/*</span>
<span class="comment"> * Arguments: &task (NULL=self),</span>
<span class="comment"> * start time,</span>
<span class="comment"> * period (here: 1 s)</span>
<span class="comment"> */</span>
<a name="a0"></a><a class="code" href="group__task.html#gbabee94264156693cd4f5b9b70d3c5a1" title="Make a real-time task periodic.">rt_task_set_periodic</a>(NULL, TM_NOW, 1000000000);
previous = <a name="a1"></a><a class="code" href="group__native__timer.html#g9665d6947e29d1a19dafb5401b0f6285" title="Return the current system time.">rt_timer_read</a>();
<span class="keywordflow">while</span> (1) {
<a name="a2"></a><a class="code" href="group__task.html#g1645d3a072ef3cefeed3bcbb27dcf108" title="Wait for the next periodic release point.">rt_task_wait_period</a>(NULL);
now = <a class="code" href="group__native__timer.html#g9665d6947e29d1a19dafb5401b0f6285" title="Return the current system time.">rt_timer_read</a>();
<span class="comment">/*</span>
<span class="comment"> * NOTE: printf may have unexpected impact on the timing of</span>
<span class="comment"> * your program. It is used here in the critical loop</span>
<span class="comment"> * only for demonstration purposes.</span>
<span class="comment"> */</span>
printf(<span class="stringliteral">"Time since last turn: %ld.%06ld ms\n"</span>,
(<span class="keywordtype">long</span>)(now - previous) / 1000000,
(<span class="keywordtype">long</span>)(now - previous) % 1000000);
previous = now;
}
}
<span class="keywordtype">void</span> catch_signal(<span class="keywordtype">int</span> sig)
{
}
<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>* argv[])
{
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
<span class="comment">/* Avoids memory swapping for this program */</span>
mlockall(MCL_CURRENT|MCL_FUTURE);
<span class="comment">/*</span>
<span class="comment"> * Arguments: &task,</span>
<span class="comment"> * name,</span>
<span class="comment"> * stack size (0=default),</span>
<span class="comment"> * priority,</span>
<span class="comment"> * mode (FPU, start suspended, ...)</span>
<span class="comment"> */</span>
<a name="a3"></a><a class="code" href="group__task.html#g03387550693c21d0223f739570ccd992" title="Create a new real-time task.">rt_task_create</a>(&demo_task, <span class="stringliteral">"trivial"</span>, 0, 99, 0);
<span class="comment">/*</span>
<span class="comment"> * Arguments: &task,</span>
<span class="comment"> * task function,</span>
<span class="comment"> * function argument</span>
<span class="comment"> */</span>
<a name="a4"></a><a class="code" href="group__task.html#gc9638918b8310a430088f5c9a04d2bb7" title="Start a real-time task.">rt_task_start</a>(&demo_task, &demo, NULL);
pause();
<a name="a5"></a><a class="code" href="group__task.html#gb6e0d411830710e8cc82d77b9df19510" title="Delete a real-time task.">rt_task_delete</a>(&demo_task);
}
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