在linux跑xenomai vkworks skin的测试

1 代码

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/*
 * Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>.
 *
 * VxWorks is a registered trademark of Wind River Systems, Inc.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as
 * published by the Free Software Foundation; either version 2 of the
 * License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 */

#include <vxworks/vxworks.h>

#define ROOT_TASK_PRI        100
#define ROOT_STACK_SIZE      16*1024

#define CONSUMER_TASK_PRI    115
#define CONSUMER_STACK_SIZE  24*1024

#define PRODUCER_TASK_PRI    110
#define PRODUCER_STACK_SIZE  24*1024

#define CONSUMER_WAIT 150
#define PRODUCER_TRIG 40

int root_thread_init(void);
void root_thread_exit(void);

#if !defined(__KERNEL__) && !defined(__XENO_SIM__)

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

#define MODULE_LICENSE(x)

#define xnarch_printf printf

int main (int argc, char *argv[])
{
    int tid;

mlockall(MCL_CURRENT|MCL_FUTURE);

atexit(&root_thread_exit);

tid = taskSpawn("RootTask",
            ROOT_TASK_PRI,
            0,
            ROOT_STACK_SIZE,
            (FUNCPTR)&root_thread_init,
            0,0,0,0,0,0,0,0,0,0);
    if (tid)
    pause();

return 1;
}

#endif /* Native, user-space execution */

MODULE_LICENSE("GPL");

static const char *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 int producer_tid,
       consumer_tid,
       message_qid;

void consumer_task (int a0, int a1, int a2, int a3, int a4,
            int a5, int a6, int a7, int a8, int a9)
{
    char *msg;
    int sz;

for (;;)
    {
    taskDelay(CONSUMER_WAIT);

while ((sz = msgQReceive(message_qid,(char *)&msg,sizeof(msg),NO_WAIT)) != ERROR)
        xnprintf("Now playing %s...\n",msg);
    }
}

void producer_task (int a0, int a1, int a2, int a3, int a4,
            int a5, int a6, int a7, int a8, int a9)
{
    int next_msg = 0;
    const char *s;

for (;;)
    {
    taskDelay(PRODUCER_TRIG);

s = satch_s_tunes[next_msg++];
    next_msg %= (sizeof(satch_s_tunes) / sizeof(satch_s_tunes[0]));

msgQSend(message_qid,(char *)&s,sizeof(s),WAIT_FOREVER,MSG_PRI_NORMAL);
    }
}

int root_thread_init (void)

{
    message_qid = msgQCreate(16,sizeof(char *),MSG_Q_FIFO);

consumer_tid = taskSpawn("ConsumerTask",
                 CONSUMER_TASK_PRI,
                 0,
                 CONSUMER_STACK_SIZE,
                 (FUNCPTR)&consumer_task,
                 0,0,0,0,0,0,0,0,0,0);

producer_tid = taskSpawn("ProducerTask",
                 PRODUCER_TASK_PRI,
                 0,
                 PRODUCER_STACK_SIZE,
                 (FUNCPTR)&producer_task,
                 0,0,0,0,0,0,0,0,0,0);
    return 0;
}

void root_thread_exit (void)

{
    taskDelete(producer_tid);
    taskDelete(consumer_tid);
    msgQDelete(message_qid);
}

#############################################################################

2 添加vxworks内核模块

modprobe xeno_vxworks

3 xeno vxworks的测试结果

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Now playing Surfing With The Alien...                                           
Now playing Lords of Karma...                                                   
Now playing Banana Mango...                                                     
Now playing Psycho Monkey...                                                    
Now playing Luminous Flesh Giants...                                            
Now playing Moroccan Sunset...                                                  
Now playing Satch Boogie...                                                     
Now playing Flying In A Blue Dream...                                           
Now playing Ride...                                                             
Now playing Summer Song...                                                      
Now playing Speed Of Light...                                                   
Now playing Crystal Planet...                                                   
Now playing Raspberry Jam Delta-V...                                            
Now playing Champagne?...                                                       
Now playing Clouds Race Across The Sky...                                       
Now playing Engines Of Creation...                                              
Now playing Surfing With The Alien...                                           
Now playing Lords of Karma...                                                   
Now playing Banana Mango...                                                     
Now playing Psycho Monkey...                                                    
Now playing Luminous Flesh Giants...                                            
Now playing Moroccan Sunset...                                                  
Now playing Satch Boogie...                                                     
Now playing Flying In A Blue Dream...                                           
Now playing Ride...                                                             
Now playing Summer Song...                                                      
Now playing Speed Of Light...                                                   
Now playing Crystal Planet...                                                   
Now playing Raspberry Jam Delta-V...                                            
Now playing Champagne?...                                                       
Now playing Clouds Race Across The Sky...                                       
Now playing Engines Of Creation...                                              
Now playing Surfing With The Alien...                                           
Now playing Lords of Karma...                                                   
Now playing Banana Mango...                                                     
Now playing Psycho Monkey...                                                    
Now playing Luminous Flesh Giants...                                            
Now playing Moroccan Sunset...                                                  
Now playing Satch Boogie...                                                     
Now playing Flying In A Blue Dream...                                           
Now playing Ride...                                                             
Now playing Summer Song...                                                      
Now playing Speed Of Light...                                                   
Now playing Crystal Planet...                                                   
Now playing Raspberry Jam Delta-V...                                            
Now playing Champagne?...                                                       
Now playing Clouds Race Across The Sky...                                       
Now playing Engines Of Creation...                                              
Now playing Surfing With The Alien...                                           
Now playing Lords of Karma...                                                   
Now playing Banana Mango...                                                     
Now playing Psycho Monkey...