threads.c
1 /******************************************************************** 2 * Description: threads.c 3 * This file, 'threads.c', is a HAL component that 4 * provides a way to create realtime threads but 5 * contains no other functionality. 6 * 7 * Author: John Kasunich 8 * License: GPL Version 2 9 * 10 * Copyright (c) 2003 All rights reserved. 11 * 12 * Last change: 13 ********************************************************************/ 14 /** This file, 'threads.c', is a HAL component that provides a way to 15 create realtime threads but contains no other functionality. 16 It will mostly be used for testing - when EMC is run normally, 17 the motion module creates all the neccessary threads. 18 19 The module has three pairs of parameters, "name1, period1", etc. 20 */ 21 22 /** Copyright (C) 2003 John Kasunich 23 <jmkasunich AT users DOT sourceforge DOT net> 24 */ 25 26 /** This program is free software; you can redistribute it and/or 27 modify it under the terms of version 2 of the GNU General 28 Public License as published by the Free Software Foundation. 29 This library is distributed in the hope that it will be useful, 30 but WITHOUT ANY WARRANTY; without even the implied warranty of 31 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 32 GNU General Public License for more details. 33 34 You should have received a copy of the GNU General Public 35 License along with this library; if not, write to the Free Software 36 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. 37 38 THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR 39 ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE 40 TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of 41 harming persons must have provisions for completely removing power 42 from all motors, etc, before persons enter any danger area. All 43 machinery must be designed to comply with local and national safety 44 codes, and the authors of this software can not, and do not, take 45 any responsibility for such compliance. 46 47 This code was written as part of the EMC HAL project. For more 48 information, go to www.linuxcnc.org. 49 */ 50 51 #include "rtapi.h" /* RTAPI realtime OS API */ 52 #include "rtapi_app.h" /* RTAPI realtime module decls */ 53 #include "hal.h" /* HAL public API decls */ 54 #include "rtapi_string.h" 55 56 /* module information */ 57 MODULE_AUTHOR("John Kasunich"); 58 MODULE_DESCRIPTION("Thread Module for HAL"); 59 MODULE_LICENSE("GPL"); 60 static char *name1 = "thread1"; /* name of thread */ 61 RTAPI_MP_STRING(name1, "name of thread 1"); 62 static int fp1 = 1; /* use floating point? default = yes */ 63 RTAPI_MP_INT(fp1, "thread1 uses floating point"); 64 static long period1 = 1000000; /* thread period - default = 1ms thread */ 65 RTAPI_MP_LONG(period1, "thread1 period (nsecs)"); 66 static char *name2 = NULL; /* name of thread */ 67 RTAPI_MP_STRING(name2, "name of thread 2"); 68 static int fp2 = 1; /* use floating point? default = yes */ 69 RTAPI_MP_INT(fp2, "thread2 uses floating point"); 70 static long period2 = 0; /* thread period - default = no thread */ 71 RTAPI_MP_LONG(period2, "thread2 period (nsecs)"); 72 static char *name3 = NULL; /* name of thread */ 73 RTAPI_MP_STRING(name3, "name of thread 3"); 74 static int fp3 = 1; /* use floating point? default = yes */ 75 RTAPI_MP_INT(fp3, "thread1 uses floating point"); 76 static long period3 = 0; /* thread period - default = no thread */ 77 RTAPI_MP_LONG(period3, "thread3 period (nsecs)"); 78 79 /*********************************************************************** 80 * STRUCTURES AND GLOBAL VARIABLES * 81 ************************************************************************/ 82 83 /* other globals */ 84 static int comp_id; /* component ID */ 85 86 /*********************************************************************** 87 * LOCAL FUNCTION DECLARATIONS * 88 ************************************************************************/ 89 90 91 /*********************************************************************** 92 * INIT AND EXIT CODE * 93 ************************************************************************/ 94 95 96 int rtapi_app_main(void) 97 { 98 int retval; 99 100 /* have good config info, connect to the HAL */ 101 comp_id = hal_init("threads"); 102 if (comp_id < 0) { 103 rtapi_print_msg(RTAPI_MSG_ERR, "THREADS: ERROR: hal_init() failed\n"); 104 return -1; 105 } 106 /* was 'period' specified in the insmod command? */ 107 if ((period1 > 0) && (name1 != NULL) && (*name1 != '\0')) { 108 /* create a thread */ 109 retval = hal_create_thread(name1, period1, fp1); 110 if (retval < 0) { 111 rtapi_print_msg(RTAPI_MSG_ERR, 112 "THREADS: ERROR: could not create thread '%s'\n", name1); 113 hal_exit(comp_id); 114 return -1; 115 } else { 116 rtapi_print_msg(RTAPI_MSG_INFO, "THREADS: created %ld uS thread\n", period1 / 1000); 117 } 118 } 119 if ((period2 > 0) && (name2 != NULL) && (*name2 != '\0')) { 120 /* create a thread */ 121 retval = hal_create_thread(name2, period2, fp2); 122 if (retval < 0) { 123 rtapi_print_msg(RTAPI_MSG_ERR, 124 "THREADS: ERROR: could not create thread '%s'\n", name2); 125 hal_exit(comp_id); 126 return -1; 127 } else { 128 rtapi_print_msg(RTAPI_MSG_INFO, "THREADS: created %ld uS thread\n", period2 / 1000); 129 } 130 } 131 if ((period3 > 0) && (name3 != NULL) && (*name3 != '\0')) { 132 /* create a thread */ 133 retval = hal_create_thread(name3, period3, fp3); 134 if (retval < 0) { 135 rtapi_print_msg(RTAPI_MSG_ERR, 136 "THREADS: ERROR: could not create thread '%s'\n", name3); 137 hal_exit(comp_id); 138 return -1; 139 } else { 140 rtapi_print_msg(RTAPI_MSG_INFO, "THREADS: created %ld uS thread\n", period3 / 1000); 141 } 142 } 143 hal_ready(comp_id); 144 return 0; 145 } 146 147 void rtapi_app_exit(void) 148 { 149 hal_exit(comp_id); 150 } 151