[Xenomai] Demo example of a simple periodic thread for Xenomai (Posix API)

[Marc Le Douarain <marc.le-douarain@laposte.net>]

Hello eveybody,

As I haven't found a little example of a periodic thread written in Posix,
I've tried to do it.

Here you will find joined the demo files example.
It can be (cross-)compiled for :
- Standard Linux
- Xenomai 2
- Xenomai 3
In the Makefile, comment 2 lines MY_CFLAGS & MY_LDFLAGS to compile for 
standard Linux.

Hope it can be helpfull for other people,
and many thanks for any comments or mistakes reports on it !
OUPPSS, JUST SEEN that XENOMAI version 3 is doing 'modes switches'... so 
there is something bad! Any idea ?

Perhaps to include a basic example like this one in the "demo" directory 
of Xenomai would be interesting!?

Best regards.

PS: I have beed disapointed at the start to discover no more 
pthread_make_periodic_np() & pthread_wait_np() functions with Xenomai 3. 
But finally now with a timerfd we can have the same sourcecode with 
standard Linux, so not too bad ! ;-)
And also no more the "__XENO__" define, but also usefull for conditional 
compilation, with the new "__COBALT__" !

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# MakeFile for demo of a simple periodic thread using Posix
# under 'standard' Linux
# and under Xenomai versions 2 and 3 using posix skin
# Marc Le Douarain, august 2015

#CROSS := arm-linux-gnueabi-


# For a 'standard' application...
MY_LDFLAGS = -lpthread
# Comment theses 2 lines for a 'standard' application...
MY_CFLAGS = `xeno-config --skin posix --cflags`
MY_LDFLAGS = `xeno-config --skin posix --ldflags`

CC := ${CROSS}gcc

all: demo_periodic_thread_posix

OBJS := demo_periodic_thread_posix.o

demo_periodic_thread_posix: ${OBJS}
	${CC} -o $@ ${OBJS} $(MY_LDFLAGS)

clean:
	-rm -f core ${OBJS} demo_periodic_thread_posix

demo_periodic_thread_posix.o: demo_periodic_thread_posix.c
	${CC} -c $< -o $@ $(MY_CFLAGS)