linux - native task api 测试

#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/timer.h>

RT_TASK demo_task;

/* NOTE: error handling omitted. */

void demo(void *arg)
{
    RTIME now, previous;

/*
     * Arguments: &task (NULL=self),
     *            start time,
     *            period (here: 1 ms)
     */
    rt_task_set_periodic(NULL, TM_NOW, 1000000);
    previous = rt_timer_read();

while (1) {
        rt_task_wait_period(NULL);
        now = rt_timer_read();

/*
         * NOTE: printf may have unexpected impact on the timing of
         *       your program. It is used here in the critical loop
         *       only for demonstration purposes.
         */
        printf("Time since last turn: %ld.%06ld ms\n",
               (long)(now - previous) / 1000000,
               (long)(now - previous) % 1000000);
               previous = now;
    }
}

void catch_signal(int sig)
{
}

int main(int argc, char* argv[])
{
    signal(SIGTERM, catch_signal);
    signal(SIGINT, catch_signal);

/* Avoids memory swapping for this program */
    mlockall(MCL_CURRENT|MCL_FUTURE);

/*
     * Arguments: &task,
     *            name,
     *            stack size (0=default),
     *            priority,
     *            mode (FPU, start suspended, ...)
     */
    rt_task_create(&demo_task, "trivial", 0, 99, 0);

/*
     * Arguments: &task,
     *            task function,
     *            function argument
     */
    rt_task_start(&demo_task, &demo, NULL);

pause();

rt_task_delete(&demo_task);

return 0;
}

２　测试结果：

Time since last turn: 0.997940 ms                                               
Time since last turn: 1.001939 ms                                               
Time since last turn: 0.996909 ms                                               
Time since last turn: 1.000727 ms                                               
Time since last turn: 1.003576 ms                                               
Time since last turn: 1.000606 ms                                               
Time since last turn: 0.998909 ms                                               
Time since last turn: 0.998243 ms                                               
Time since last turn: 1.001333 ms                                               
Time since last turn: 0.997636 ms                                               
Time since last turn: 1.003152 ms                                               
Time since last turn: 0.996788 ms                                               
Time since last turn: 1.000060 ms                                               
Time since last turn: 0.998667 ms                                               
Time since last turn: 1.005030 ms                                               
Time since last turn: 0.995031 ms                                               
Time since last turn: 1.002545 ms                                               
Time since last turn: 1.002303 ms                                               
Time since last turn: 0.995515 ms                                               
Time since last turn: 1.002849 ms                                               
Time since last turn: 0.997878 ms                                               
Time since last turn: 1.002000 ms                                               
Time since last turn: 0.998546 ms                                               
Time since last turn: 0.999576 ms                                               
Time since last turn: 1.002363 ms                                               
Time since last turn: 0.998425 ms                                               
Time since last turn: 0.998969 ms                                               
Time since last turn: 1.000061 ms                                               
Time since last turn: 1.002788 ms                                               
Time since last turn: 0.996848 ms                                               
Time since last turn: 1.002182 ms                                               
Time since last turn: 0.999212 ms                                               
Time since last turn: 1.001455 ms                                               
Time since last turn: 0.997636 ms                                               
Time since last turn: 1.004546 ms                                               
Time since last turn: 0.995757 ms                                               
Time since last turn: 1.000788 ms                                               
Time since last turn: 0.998485 ms                                               
Time since last turn: 1.001333 ms                                               
Time since last turn: 0.998485 ms                                               
Time since last turn: 1.001152 ms                                               
Time since last turn: 0.999878 ms                                               
Time since last turn: 0.999334 ms                                               
Time since last turn: 1.002121 ms                                               
Time since last turn: 0.999697 ms                                               
Time since last turn: 1.000242 ms                                               
Time since last turn: 0.997697 ms                                               
Time since last turn: 1.000303 ms                                               
Time since last turn: 0.999879 ms                                               
Time since last turn: 1.000788 ms                                               
Time since last turn: 1.000061 ms                                               
Time since last turn: 0.999636 ms                                               
Time since last turn: 1.001454 ms                                               
Time since last turn: 0.997334 ms                                               
Time since last turn: 1.004666 ms                                               
Time since last turn: 0.996910 ms                                               
Time since last turn: 1.002545 ms                                               
Time since last turn: 0.996485 ms                                               
Time since last turn: 1.001273 ms                                               
Time since last turn: 0.998666 ms                                               
Time since last turn: 1.000788 ms                                               
Time since last turn: 0.999758 ms                                               
Time since last turn: 1.000242 ms                                               
Time since last turn: 0.999091 ms                                               
Time since last turn: 1.002909 ms                                               
Time since last turn: 1.000485 ms                                               
Time since last turn: 0.996424 ms                                               
Time since last turn: 1.001818 ms