logproc.c File Reference

#include "mbconfig.h"
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/user.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sched.h>
#include <errno.h>

Include dependency graph for logproc.c:

Go to the source code of this file.

Macros
#define	KEEP_STATIC_INLINE

Functions
int	main (int argc, char *argv[])

Macro Definition Documentation

#define KEEP_STATIC_INLINE

Definition at line 50 of file logproc.c.

Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 60 of file logproc.c.

{
        RT_TASK *logtask, *mbdtask;
        MBX *mbxlog;
        int i = 0, time = 0;
        char *mbdynname;
        char *mbxname;
        int CpuMap;
        struct data {
                int step;
                int time;
        };
        int dim = sizeof(struct data);
        struct data msg;
        
        struct sched_param mysched;

        mysched.sched_priority = 1;

        if (argc != 5) {
                fprintf(stderr, "INVALID NUMBER OF ARGUMENTS: ARGC=%d\n"
                        "\n"
                        "USAGE: logproc <MBDTSK> <MBXLOG> <CPUMAP> <NONROOT>\n",
                        argc);
                exit(EXIT_FAILURE);
        }

        mbdynname = argv[1];
        mbxname = argv[2];
        CpuMap = atoi(argv[3]);
        if (strcasecmp(argv[4], "true") == 0) {
                rt_allow_nonroot_hrt();

        } else if (strcasecmp(argv[4], "false" ) != 0) {
                fprintf(stderr, "INVALID VALUE \"%s\" FOR NONROOT\n", argv[4]);
                exit(EXIT_FAILURE);
        }

        if (sched_setscheduler(0, SCHED_FIFO, &mysched) == -1) {
                fputs("ERROR IN SETTING THE SCHEDULER UP", stderr);
                perror("errno");
                exit( 0 );
        }       
        
        mlockall(MCL_CURRENT | MCL_FUTURE);
        
        if (!(logtask = rt_task_init_schmod(nam2num("LTSK"), 20, 0, 0,
                        SCHED_FIFO, CpuMap)))
        {
                fputs("CANNOT INIT LOG TASK\n", stderr);
                exit(EXIT_FAILURE);
        }
        
        if (!(mbdtask = rt_get_adr(nam2num(mbdynname)))) {
                fprintf(stderr, "CANNOT FIND MBDyn TASK \"%s\"\n", mbdynname);
                exit(EXIT_FAILURE);
        }
        
        rt_task_resume(mbdtask);
        
        if (!(mbxlog = rt_get_adr(nam2num(mbxname)))) {
                fprintf(stderr, "CANNOT FIND LOG MBX\n");
                exit(EXIT_FAILURE);
        }

        printf("\n" "OVERRUNS MONITOR:\n");
        printf("             step     t [ns]\n");
        while (!rt_mbx_receive(mbxlog, &msg, dim)) {
                i++;
                time += msg.time;
                printf("%8d %8d %10d\n", i, msg.step, msg.time);
        }

        rt_sleep(nano2count(1000000000));
        rt_task_delete(logtask);
        printf("\n\n" "OVERRUNS MONITOR:\n");
        printf("Total overruns detected: %d\n", i);
        printf("Mean overruns time: %6.2lf ns\n",
                i ? ((double)time)/((double)i) : 0.);
        printf("End of overruns monitor.\n");

        return 0;       
}