[Xenomai-help] porting to kernel 2.2

[Xenomai-help] porting to kernel 2.2

[mani bhatti]

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Note: forwarded message attached.
 
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Hi all 
Previously i was working with 2.1 version of xenomai kernel but now i have kernel  2.2 and my previous code flags me error about  rt_task_wait_period() which i have fixed to rt_task_wait_period(NULL) and also gives me warning rt_start_time is deprecated and i have removed this line because in 2.2 system timer automatically starts but still by 
rt_task_set_periodic gives error   "system timer not stared" and my program exits due to return statement showing that peridodic mode is not set.i am attaching my code.Please figure out the problem and help me about the bug in program.Thanks all.

 
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#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <sys/time.h>
#include <sys/io.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/queue.h>
#include <native/intr.h>


#define STACK_SIZE 8192
#define STD_PRIO1 2
#define STD_PRIO2 1

RT_TASK zaehler1_task_ptr;
RT_TASK zaehler2_task_ptr;
int count1 = 0;
int count2 = 0;
int i;
int end = 0;

//                      --s-ms-us-ns
RTIME task_period_ns1 =   1000000000llu;
RTIME task_period_ns2 =  10000000000llu;


void zaehler1_task(void *cookie){
        int ret;
        
// ************************* Xenomai-Krempel ********************************************************************
        ret = rt_task_set_periodic(NULL, TM_NOW, rt_timer_ns2ticks(task_period_ns1));
     switch(-ret){
      case EINVAL:   printf("Task is not a task descriptor\n");
                    break;
      case EIDRM:  printf( "Task is a deleted task descriptor\n");
                    rt_task_sleep(50000); // wait 50us
                    break;
      case ETIMEDOUT: printf("idate different from TM_INFINITE\n");
                    break;
      case EWOULDBLOCK: printf("system timer not stared\n");
                    break;
      case EPERM:    printf("task is null\n");
      break;
    }   
     
      if (ret) {
                printf("error while set periodic, code %d\n",ret);
                return;
        }
// ************************* Ende Xenomai-Krempel ****************************************************************


// ********************** Beginn des wiederholt ausgefuehrten Codes **********************************************
        while(!end){
    /*      
          ret = rt_task_set_mode(0, T_PRIMARY, NULL);
                if (ret) {
                        printf("error while rt_task_set_mode, code %d\n",ret);
                        return;
                }
      */          
             ret = rt_task_wait_period(NULL);
                printf("T1:Start\n");

                if (ret) {
                        printf("error while rt_task_wait_period, code %d\n",ret);
                        return;
                }
                count1++;

                printf("T1:Ende:%d\n", count1);

                fflush(NULL);
        }
// ********************** Ende des wiederholt ausgefuehrten Codes ***********************************************
}


void zaehler2_task(void *cookie){
	int ret;	
	long ii;
	long jj;
	double a;
        unsigned long overrun;
// ************************* Xenomai-Krempel ********************************************************************
	ret = rt_task_set_periodic(NULL, TM_NOW, rt_timer_ns2ticks(task_period_ns2));
	if (ret) {
		printf("error while set periodic, code %d\n",ret);
		return;
	}
// ************************* Ende Xenomai-Krempel ****************************************************************


// ********************** Beginn des wiederholt ausgefuehrten Codes **********************************************
	while(!end){
	/*	ret = rt_task_set_mode(0, T_PRIMARY, NULL);
		if (ret) {
			printf("error while rt_task_set_mode, code %d\n",ret);
			return;
		}
	 */	
      ret = rt_task_wait_period(NULL);
		
		printf("\t\tT2:Start\n");

		if (ret) {
			printf("error while rt_task_wait_period, code %d\n",ret);
			return;
		}

                for(ii=0; ii<200; ii++) {
		 	for(jj=0; jj<1000000; jj++) {
				a = (double)ii * (double)jj;
			}
		}              

                count2++;
                printf("\t\tT2:Ende:%d\n", count2++);

		fflush(NULL);
        }
// ********************** Ende des wiederholt ausgefuehrten Codes ***********************************************
}
       


// signal-handler, to ensure clean exit on Ctrl-C
void clean_exit(int dummy) {
	printf("cleanup\n");
	end = 1;
	rt_task_delete(&zaehler1_task_ptr);
	rt_task_delete(&zaehler2_task_ptr);
	printf("end\n");
}

int main(int argc, char *argv[]) {
	int err, ret;
	printf("start\n");
	// install signal handler
	signal(SIGTERM, clean_exit);	
	signal(SIGINT, clean_exit);	
	// start timer
	//ret = rt_timer_start(TM_ONESHOT);
/*	switch (ret) {
		case 0:       printf("Mit dem Fahrrad nich inn ersten Wagen\n\n");
		              break;
		case -EBUSY:  printf("timer is running\n");
		              break;
		case -ENOSYS: printf("can't start timer\n");
		              return ret;
	}

*/

	/* create zaehler1_task */
	err = rt_task_create(&zaehler1_task_ptr,"alpha",STACK_SIZE,STD_PRIO1,0);
	/* create zaehler2_task */
	err = rt_task_create(&zaehler2_task_ptr,"beta",STACK_SIZE,STD_PRIO2,0);

	/* start zaehler1_task */
	err = rt_task_start(&zaehler1_task_ptr,&zaehler1_task,NULL);

	/* start zaehler2_task */
	err = rt_task_start(&zaehler2_task_ptr,&zaehler2_task,NULL);

	// wait for signal & return of signal handler
	pause();
	fflush(NULL);
	return 0;
}

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Re: [Xenomai-help] porting to kernel 2.2

[Jan Kiszka]

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mani bhatti wrote:
> 
> Note: forwarded message attached.

Your first message made it to this list already. Probably the limited
information prevented any quick response of some guru.

So, mind telling us more about what your system actually reports to you?
Your program starts fine here (after adding mlockall), and this points
to a potential configuration issue. What does your kernel console tell
that is suspicious? Do existing tests run fine (=>testsuite)? What does
/proc/xenomai/ contain, specifically "timer" (when the timer is said to
be not started...)? How did you configure the Xenomai part in your
kernel .config, specifically the timer?

Jan


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[Xenomai-help] Re: [Xenomai-core] aperiodic xenomai tasks

[Jan Kiszka]

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mani bhatti wrote:
> Thanks Jan for your reply
> Actually the semaphore and mutexes stuff you have referred to i have
> already grounds for them.The only problem i have is please some body
> tell me that i dont want to make a thread periodic i,e i dont want to
> call a thread after periodic time interval i wanted it to  make it
> aperiodic like threads in C++ are scheduled by scheduler byitself

This has nothing to do with C++, rather with the class library you are
used to.

> and sleep on waiting condition with out any specific time interval
> and wake  only when  signalled from  pariodic thread. I hope you
> understand my point.Thanks a lot .

Let's try it differently:

thread_a()
{
	rt_task_set_periodic(...);
	while (1) {
		rt_task_wait_period(NULL);
		/* do some work */
		if (I_should_trigger_thread_b)
			rt_sem_v(&sem);
	}
}

thread_b()
{
	while (1) {
		rt_sem_p(&sem, TM_INFINITE);
		/* so some other work */
	}
}

Again, read up what the services are exactly doing or you will be lost
once you have to modify things only slightly.

Jan


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[Xenomai-help] porting to kernel 2.2

[mani bhatti]

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Hi all 
Previously i was working with 2.1 version of xenomai kernel but now i have kernel  2.2 and my previous code flags me error about  rt_task_wait_period() which i have fixed to rt_task_wait_period(NULL) and also gives me warning rt_start_time is deprecated and i have removed this line because in 2.2 system timer automatically starts but still by 
rt_task_set_periodic gives error   "system timer not stared" and my program exits due to return statement showing that peridodic mode is not set.i am attaching my code.Please figure out the problem and help me about the bug in program.Thanks all.

 
---------------------------------
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#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <sys/time.h>
#include <sys/io.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/queue.h>
#include <native/intr.h>


#define STACK_SIZE 8192
#define STD_PRIO1 2
#define STD_PRIO2 1

RT_TASK zaehler1_task_ptr;
RT_TASK zaehler2_task_ptr;
int count1 = 0;
int count2 = 0;
int i;
int end = 0;

//                      --s-ms-us-ns
RTIME task_period_ns1 =   1000000000llu;
RTIME task_period_ns2 =  10000000000llu;


void zaehler1_task(void *cookie){
        int ret;
        
// ************************* Xenomai-Krempel ********************************************************************
        ret = rt_task_set_periodic(NULL, TM_NOW, rt_timer_ns2ticks(task_period_ns1));
     switch(-ret){
      case EINVAL:   printf("Task is not a task descriptor\n");
                    break;
      case EIDRM:  printf( "Task is a deleted task descriptor\n");
                    rt_task_sleep(50000); // wait 50us
                    break;
      case ETIMEDOUT: printf("idate different from TM_INFINITE\n");
                    break;
      case EWOULDBLOCK: printf("system timer not stared\n");
                    break;
      case EPERM:    printf("task is null\n");
      break;
    }   
     
      if (ret) {
                printf("error while set periodic, code %d\n",ret);
                return;
        }
// ************************* Ende Xenomai-Krempel ****************************************************************


// ********************** Beginn des wiederholt ausgefuehrten Codes **********************************************
        while(!end){
    /*      
          ret = rt_task_set_mode(0, T_PRIMARY, NULL);
                if (ret) {
                        printf("error while rt_task_set_mode, code %d\n",ret);
                        return;
                }
      */          
             ret = rt_task_wait_period(NULL);
                printf("T1:Start\n");

                if (ret) {
                        printf("error while rt_task_wait_period, code %d\n",ret);
                        return;
                }
                count1++;

                printf("T1:Ende:%d\n", count1);

                fflush(NULL);
        }
// ********************** Ende des wiederholt ausgefuehrten Codes ***********************************************
}


void zaehler2_task(void *cookie){
	int ret;	
	long ii;
	long jj;
	double a;
        unsigned long overrun;
// ************************* Xenomai-Krempel ********************************************************************
	ret = rt_task_set_periodic(NULL, TM_NOW, rt_timer_ns2ticks(task_period_ns2));
	if (ret) {
		printf("error while set periodic, code %d\n",ret);
		return;
	}
// ************************* Ende Xenomai-Krempel ****************************************************************


// ********************** Beginn des wiederholt ausgefuehrten Codes **********************************************
	while(!end){
	/*	ret = rt_task_set_mode(0, T_PRIMARY, NULL);
		if (ret) {
			printf("error while rt_task_set_mode, code %d\n",ret);
			return;
		}
	 */	
      ret = rt_task_wait_period(NULL);
		
		printf("\t\tT2:Start\n");

		if (ret) {
			printf("error while rt_task_wait_period, code %d\n",ret);
			return;
		}

                for(ii=0; ii<200; ii++) {
		 	for(jj=0; jj<1000000; jj++) {
				a = (double)ii * (double)jj;
			}
		}              

                count2++;
                printf("\t\tT2:Ende:%d\n", count2++);

		fflush(NULL);
        }
// ********************** Ende des wiederholt ausgefuehrten Codes ***********************************************
}
       


// signal-handler, to ensure clean exit on Ctrl-C
void clean_exit(int dummy) {
	printf("cleanup\n");
	end = 1;
	rt_task_delete(&zaehler1_task_ptr);
	rt_task_delete(&zaehler2_task_ptr);
	printf("end\n");
}

int main(int argc, char *argv[]) {
	int err, ret;
	printf("start\n");
	// install signal handler
	signal(SIGTERM, clean_exit);	
	signal(SIGINT, clean_exit);	
	// start timer
	//ret = rt_timer_start(TM_ONESHOT);
/*	switch (ret) {
		case 0:       printf("Mit dem Fahrrad nich inn ersten Wagen\n\n");
		              break;
		case -EBUSY:  printf("timer is running\n");
		              break;
		case -ENOSYS: printf("can't start timer\n");
		              return ret;
	}

*/

	/* create zaehler1_task */
	err = rt_task_create(&zaehler1_task_ptr,"alpha",STACK_SIZE,STD_PRIO1,0);
	/* create zaehler2_task */
	err = rt_task_create(&zaehler2_task_ptr,"beta",STACK_SIZE,STD_PRIO2,0);

	/* start zaehler1_task */
	err = rt_task_start(&zaehler1_task_ptr,&zaehler1_task,NULL);

	/* start zaehler2_task */
	err = rt_task_start(&zaehler2_task_ptr,&zaehler2_task,NULL);

	// wait for signal & return of signal handler
	pause();
	fflush(NULL);
	return 0;
}