[Xenomai-help] thread and posix skin

[Xenomai-help] thread and posix skin

[Alessio Margan @ IIT]

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=y have sense ?
In the examples and testsuite I 've just seen the use of clock_nanosleep 
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 
110.


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

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

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

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

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

ret = pthread_make_periodic_np(pthread_self(), &starttp, &periodtp);
if ( ret != 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 = pthread_wait_np(NULL);
if ( ret != 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


-- 

ISTITUTO ITALIANO
DI TECNOLOGIA

Alessio Margan
/Senior Technician/
mail me <mailto:alessio.margan@domain.hid>

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Re: [Xenomai-help] thread and posix skin

[Gilles Chanteperdrix]

Alessio Margan @ IIT wrote:
> 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=y have sense ?

It is unrelated. CONFIG_XENO_OPT_TIMING_PERIODIC means that you request
a periodic timer instead of the default which is one-shot. Which means
all your wake-ups will be aligned on timer ticks.

> In the examples and testsuite I 've just seen the use of clock_nanosleep 
> with pthread,
> should I use it instead of pthread_make_periodic_np ?

As you wish.

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

Can't tell, your sample code does not compile here. 110 is ETIMEDOUT, it
is usually returned when the start time has already passed. As
documented here:
http://www.xenomai.org/documentation/xenomai-2.5/html/api/group__posix__thread.html#gafe8deaa3c89e0a07e59f0e58f9ec1473

-- 
					    Gilles.