Kim Chuan Lim wrote: > Hi Jan, > > I try to run some old example from http://www.captain.at/xenomai.php > I am getting feddup with some examples which keep on hanging my system. > I thought maybe if i run the old examples with normal user mode, i > will not crash the system.
Every program with RT power can hang your system: in an endless loop
with raise priority. That's why it's not that simple to allow non-root
RT access.
>
> Between, the examples program in testsuits are too much complicated
> for beginner like me.
> Is there any up to date and easy understandable examples?
What about ksrc/skins/native/snippets/? They may not run but they can
give some ideas. Here is one of the simplest that does run (my classic
version):
#include <signal.h>
#include <sys/mman.h>
#include <native/task.h>
void demo(void *arg)
{
rt_task_set_periodic(NULL, TM_NOW, 200000);
while (1) {
rt_task_wait_period(NULL);
/* real-time jobs */
}
}
void catch_signal(int sig) { }
int main(int argc, char* argv[])
{
RT_TASK demo_task;
signal(SIGINT, catch_signal);
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_task_create(&demo_task, "mydemo", 0, 99, 0);
rt_task_start(&demo_task, &demo, NULL);
pause();
rt_task_delete(&demo_task);
return 0;
}
Jan
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