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<title>Xenomai API: user_alarm.c</title>
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<h1>user_alarm.c</h1><div class="fragment"><pre class="fragment"><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="alarm_8h.html" title="This file is part of the Xenomai project.">native/alarm.h</a>></span>
<span class="preprocessor">#define TASK_PRIO 99 </span><span class="comment">/* Highest RT priority */</span>
<span class="preprocessor">#define TASK_MODE 0 </span><span class="comment">/* No flags */</span>
<span class="preprocessor">#define TASK_STKSZ 0 </span><span class="comment">/* Stack size (use default one) */</span>
<span class="preprocessor">#define ALARM_VALUE 500000 </span><span class="comment">/* First shot at now + 500 us */</span>
<span class="preprocessor">#define ALARM_INTERVAL 250000 </span><span class="comment">/* Period is 250 us */</span>
RT_ALARM alarm_desc;
RT_TASK server_desc;
<span class="keywordtype">void</span> alarm_server (<span class="keywordtype">void</span> *cookie)
{
<span class="keywordflow">for</span> (;;) {
<span class="comment">/* Wait for the next alarm to trigger. */</span>
err = <a name="a0"></a><a class="code" href="group__alarm.html#g6c0caadae03541db8a46751d290c0d76" title="Wait for the next alarm shot.">rt_alarm_wait</a>(&alarm_desc);
<span class="keywordflow">if</span> (!err) {
<span class="comment">/* Process the alarm shot. */</span>
}
}
}
<span class="keywordtype">int</span> main (<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])
{
<span class="keywordtype">int</span> err;
mlockall(MCL_CURRENT|MCL_FUTURE);
<span class="comment">/* ... */</span>
err = <a name="a1"></a><a class="code" href="group__alarm.html#g22353f79379121bbebfa0e72bbde5028" title="Create an alarm object from kernel space.">rt_alarm_create</a>(&alarm_desc,<span class="stringliteral">"MyAlarm"</span>);
err = <a name="a2"></a><a class="code" href="group__alarm.html#g0d9cb8ae623be0f7224ac47b10a0b542" title="Start an alarm.">rt_alarm_start</a>(&alarm_desc,
ALARM_VALUE,
ALARM_INTERVAL);
<span class="comment">/* ... */</span>
err = <a name="a3"></a><a class="code" href="group__task.html#g03387550693c21d0223f739570ccd992" title="Create a new real-time task.">rt_task_create</a>(&server_desc,
<span class="stringliteral">"MyAlarmServer"</span>,
TASK_STKSZ,
TASK_PRIO,
TASK_MODE);
<span class="keywordflow">if</span> (!err)
<a name="a4"></a><a class="code" href="group__task.html#gc9638918b8310a430088f5c9a04d2bb7" title="Start a real-time task.">rt_task_start</a>(&server_desc,&alarm_server,NULL);
<span class="comment">/* ... */</span>
}
<span class="keywordtype">void</span> cleanup (<span class="keywordtype">void</span>)
{
<a name="a5"></a><a class="code" href="group__alarm.html#gf00e05b47b1183816480e270d326f9ac" title="Delete an alarm.">rt_alarm_delete</a>(&alarm_desc);
<a name="a6"></a><a class="code" href="group__task.html#gb6e0d411830710e8cc82d77b9df19510" title="Delete a real-time task.">rt_task_delete</a>(&server_desc);
}
</pre></div> </div>
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