/usr/share/libxenomai-dev/examples/posix/satch.c is in libxenomai-dev 2.6.3-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 | #ifndef __XENO_SIM__
#ifndef __KERNEL__
#include <stdio.h>
#define xnarch_printf printf
#endif
#include <time.h>
#include <errno.h>
#include <unistd.h>
#include <signal.h>
#include <sys/mman.h>
#include <pthread.h>
#include <mqueue.h>
#else /* __XENO_SIM */
#include <posix/posix.h>
#endif /* __XENO_SIM */
#define CONSUMER_TASK_PRI 1
#define CONSUMER_STACK_SIZE 8192
#define PRODUCER_TASK_PRI 2
#define PRODUCER_STACK_SIZE 8192
#define CONSUMER_WAIT 150
#define PRODUCER_TRIG 40
#define MQ_NAME "/satchmq"
#define SHM_NAME "/satchshm"
void normalize(struct timespec *ts)
{
if (ts->tv_nsec > 1000000000)
{
ts->tv_sec += ts->tv_nsec / 1000000000;
ts->tv_nsec %= 1000000000;
}
if (ts->tv_nsec < 0)
{
ts->tv_sec -= (-ts->tv_nsec) / 1000000000 + 1;
ts->tv_nsec = 1000000000 - (-ts->tv_nsec % 1000000000);
}
}
void abort_perror(const char *pref)
{
xnprintf("%s: %d\n", pref, errno);
pthread_exit(NULL);
}
#ifdef PRODUCER
static const char *private_satch_s_tunes[] = {
"Surfing With The Alien",
"Lords of Karma",
"Banana Mango",
"Psycho Monkey",
"Luminous Flesh Giants",
"Moroccan Sunset",
"Satch Boogie",
"Flying In A Blue Dream",
"Ride",
"Summer Song",
"Speed Of Light",
"Crystal Planet",
"Raspberry Jam Delta-V",
"Champagne?",
"Clouds Race Across The Sky",
"Engines Of Creation"
};
static unsigned satch_s_tunes[sizeof(private_satch_s_tunes)/sizeof(char *)];
static timer_t producer_tm = (timer_t) -1;
static mqd_t producer_mq = (mqd_t) -1;
static void *producer_shm = MAP_FAILED;
static pthread_t producer_task;
void *producer (void *cookie)
{
struct itimerspec its;
sigset_t blocked;
unsigned pos;
int next_msg;
/* Copy the strings to shared memory. */
pos = 0;
for (next_msg = 0;
next_msg < sizeof(private_satch_s_tunes)/sizeof(char *);
next_msg++)
{
const char *msg = private_satch_s_tunes[next_msg];
size_t len = strlen(msg) + 1;
memcpy(producer_shm + pos, msg, len);
satch_s_tunes[next_msg] = pos;
pos += len;
}
next_msg = 0;
sigemptyset(&blocked);
sigaddset(&blocked, SIGRTMIN+1);
pthread_sigmask(SIG_BLOCK, &blocked, NULL);
its.it_value.tv_sec = 0;
its.it_value.tv_nsec = 10000000 * PRODUCER_TRIG;
normalize(&its.it_value);
its.it_interval.tv_sec = 0;
its.it_interval.tv_nsec = 0;
normalize(&its.it_interval);
for (;;)
{
unsigned msg_off;
siginfo_t si;
int nchar;
if (timer_settime(producer_tm, 0, &its, NULL))
abort_perror("timer_settime");
while (sigwaitinfo(&blocked, &si) == -1 && errno == EINTR)
;
msg_off = satch_s_tunes[next_msg++];
next_msg %= (sizeof(satch_s_tunes) / sizeof(satch_s_tunes[0]));
do
{
nchar = mq_send(producer_mq, (char *)&msg_off, sizeof(msg_off), 0);
}
while (nchar == -1 && errno == EINTR);
if (nchar == -1)
abort_perror("mq_send");
}
return NULL;
}
#endif /* PRODUCER */
#ifdef CONSUMER
static timer_t consumer_tm = (timer_t) -1;
static mqd_t consumer_mq = (mqd_t) -1;
static void *consumer_shm = MAP_FAILED;
static pthread_t consumer_task;
void *consumer (void *cookie)
{
struct itimerspec its;
sigset_t blocked;
sigemptyset(&blocked);
sigaddset(&blocked, SIGALRM);
pthread_sigmask(SIG_BLOCK, &blocked, NULL);
its.it_value.tv_sec = 0;
its.it_value.tv_nsec = CONSUMER_WAIT * 10000000; /* 10 ms */
normalize(&its.it_value);
its.it_interval.tv_sec = 0;
its.it_interval.tv_nsec = CONSUMER_WAIT * 10000000;
normalize(&its.it_interval);
if(timer_settime(consumer_tm, 0, &its, NULL))
abort_perror("timer_settime");
for (;;)
{
siginfo_t si;
while (sigwaitinfo(&blocked, &si) == -1 && errno == EINTR)
;
for (;;)
{
unsigned prio;
unsigned msg;
int nchar;
do
{
nchar = mq_receive(consumer_mq,(char *)&msg, sizeof(msg), &prio);
}
while (nchar == -1 && errno == EINTR);
if (nchar == -1 && errno == EAGAIN)
break;
if (nchar == -1)
abort_perror("mq_receive");
printf("Now playing %s...\n",(char *) consumer_shm + msg);
}
}
return NULL;
}
#endif /* CONSUMER */
void __xeno_user_exit (void)
{
#ifdef PRODUCER
if (producer_task)
{
pthread_cancel(producer_task);
pthread_join(producer_task, NULL);
}
if (producer_tm != (timer_t) -1)
timer_delete(producer_tm);
if (producer_mq != (mqd_t) -1)
mq_close(producer_mq);
mq_unlink(MQ_NAME);
if (producer_shm != MAP_FAILED)
munmap(producer_shm, 65536);
shm_unlink(SHM_NAME);
#endif /* PRODUCER */
#ifdef CONSUMER
if (consumer_task)
{
pthread_cancel(consumer_task);
pthread_join(consumer_task, NULL);
}
if (consumer_tm != (timer_t) -1)
timer_delete(consumer_tm);
if (consumer_mq != (mqd_t) -1)
mq_close(consumer_mq);
if (consumer_shm != MAP_FAILED)
munmap(consumer_shm, 65536);
#endif /* CONSUMER */
}
int __xeno_user_init (void)
{
struct sched_param parm;
pthread_attr_t attr;
int rc = 0, fd = -1;
struct mq_attr mattr;
struct sigevent evt;
fd = shm_open(SHM_NAME, O_CREAT | O_RDWR, 0777);
if (fd == -1)
{
xnprintf("shm_open: %d\n", errno);
return -errno;
}
if (ftruncate(fd, 65536))
{
xnprintf("ftruncate: %d\n", errno);
goto out;
}
pthread_attr_init(&attr);
pthread_attr_setinheritsched(&attr, 1);
pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
#ifdef PRODUCER
mattr.mq_maxmsg = 30;
mattr.mq_msgsize = sizeof(unsigned);
producer_mq = mq_open(MQ_NAME, O_CREAT| O_EXCL| O_WRONLY, 0, &mattr);
if (producer_mq == (mqd_t) -1)
{
if (errno == EEXIST)
{
xnprintf("Satch: producer module is already running, please "
"only launch one producer instance.\n");
goto out;
}
xnprintf("mq_open(producer_mq): %d\n", errno);
goto out;
}
producer_shm = mmap(NULL, 65536, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
if (producer_shm == MAP_FAILED)
{
xnprintf("mmap(producer_shm): %d\n", errno);
return -errno;
}
evt.sigev_notify = SIGEV_SIGNAL;
evt.sigev_signo = SIGRTMIN+1;
evt.sigev_value.sival_ptr = &producer_tm;
if (timer_create(CLOCK_REALTIME, &evt, &producer_tm))
{
xnprintf("timer_create(producer_tm): %d\n", errno);
goto out;
}
pthread_attr_setstacksize(&attr, PRODUCER_STACK_SIZE);
parm.sched_priority = PRODUCER_TASK_PRI;
pthread_attr_setschedparam(&attr, &parm);
rc = pthread_create(&producer_task, &attr, &producer, NULL);
if (rc)
{
xnprintf("pthread_create(producer_task): %d\n", rc);
goto out;
}
#endif /* PRODUCER */
#ifdef CONSUMER
mattr.mq_maxmsg = 30;
mattr.mq_msgsize = sizeof(unsigned);
consumer_mq = mq_open(MQ_NAME, O_NONBLOCK| O_RDONLY, 0, &mattr);
if (consumer_mq == (mqd_t) -1)
{
if (errno == ENOENT)
{
xnprintf("Satch: producer module not running, please launch producer"
" module before\nlaunching consumer application.\n");
goto out;
}
xnprintf("mq_open(consumer_mq): %d\n", errno);
goto out;
}
consumer_shm = mmap(NULL, 65536, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
if (consumer_shm == MAP_FAILED)
{
xnprintf("mmap(consumer_shm): %d\n", errno);
goto out;
}
evt.sigev_notify = SIGEV_SIGNAL;
evt.sigev_signo = SIGALRM;
evt.sigev_value.sival_ptr = &consumer_tm;
if(timer_create(CLOCK_REALTIME, &evt, &consumer_tm))
{
xnprintf("timer_create(consumer_tm): %d\n", errno);
goto out;
}
pthread_attr_setstacksize(&attr, CONSUMER_STACK_SIZE);
parm.sched_priority = CONSUMER_TASK_PRI;
pthread_attr_setschedparam(&attr, &parm);
rc = pthread_create(&consumer_task, &attr, &consumer, NULL);
if (rc)
{
xnprintf("pthread_create(consumer_task): %d\n", rc);
goto out;
}
#endif /* CONSUMER */
if (close(fd))
{
xnprintf("close: %d\n", errno);
rc = -errno;
goto err;
}
return 0;
out:
rc = -rc ?: -errno;
if (close(fd))
xnprintf("close: %d\n", errno);
err:
__xeno_user_exit();
return rc;
}
#ifdef __KERNEL__
MODULE_AUTHOR("gilles.chanteperdrix@xenomai.org");
MODULE_LICENSE("GPL");
module_init(__xeno_user_init);
module_exit(__xeno_user_exit);
#elif !defined(__XENO_SIM__)
int main (int ac, char *av[])
{
sigset_t mask;
int rc, sig;
sigemptyset(&mask);
sigaddset(&mask,SIGINT);
sigaddset(&mask,SIGTERM);
sigaddset(&mask,SIGHUP);
sigaddset(&mask,SIGALRM);
pthread_sigmask(SIG_BLOCK, &mask, NULL);
mlockall(MCL_CURRENT|MCL_FUTURE);
rc = __xeno_user_init();
if (rc)
{
xnprintf("__xeno_user_init: %d\n", -rc);
return -rc;
}
sigwait(&mask, &sig);
__xeno_user_exit();
return 0;
}
#endif /* !__XENO_SIM__ && !__KERNEL__ */
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