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Date: Mon, 18 Jan 2010 15:45:18 +0100
From: "Alessio Margan @ IIT" <alessio.margan@domain.hid>
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Subject: [Xenomai-help] thread and posix skin
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To: "xenomai@xenomai.org" <xenomai@xenomai.org>

Hi,

I've got problem using pthread_make_periodic_np and pthread_wait_np.
Should I make some particular initializations ?
CONFIG_XENO_OPT_TIMING_PERIOD=3Dy have sense ?
In the examples and testsuite I 've just seen the use of clock_nanosleep=20
with pthread,
should I use it instead of pthread_make_periodic_np ?

This is the thread routine, I get error on pthread_wait_np() return code=20
110.


void * rt_thread(void * arg, rt_thread_hook_t * hook)
{
thread_info_t * th_info =3D (thread_info_t *)arg;
int ret =3D 0;
struct timespec starttp, periodtp;
//
if ( hook ) { hook->init(0); }

printf("THREAD INIT: name =3D %s, period %ld us\n",
th_info->name, th_info->period.period.tv_usec);

ret =3D pthread_set_name_np(pthread_self(), th_info->name);
if ( ret !=3D 0 ) {
printf("%s : pthread_set_name_np() return code %d\n",
th_info->name, ret);
exit(1);
}

periodtp.tv_sec =3D 0ULL;
periodtp.tv_nsec =3D th_info->period.period.tv_usec * 1000ULL;
clock_gettime(CLOCK_REALTIME, &starttp);

starttp.tv_sec +=3D 1ULL;
starttp.tv_nsec +=3D periodtp.tv_nsec;

ret =3D pthread_make_periodic_np(pthread_self(), &starttp, &periodtp);
if ( ret !=3D 0 ) {
printf("%s : pthread_make_periodic_np() return code %d\n",
th_info->name, ret);
exit(1);
}

while (loop) {

if ( hook ) { hook->loop(0); }

// return 0 if the period expires as expected
ret =3D pthread_wait_np(NULL);
if ( ret !=3D 0 ) {
printf("%s : pthread_wait_np() return code %d\n", th_info->name, ret);
exit(1);
}

}

//
if ( hook ) { hook->shutdown(0); }

printf("THREAD %s ENDS\n", th_info->name);

return 0;
}


TIA

Alessio


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