[Emc-commit] rtapi/examples/shmem shmemtask.c,1.1.1.1,1.2 shmemusr.c,1.1.1.1,1.2

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Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/examples/shmem

Modified Files:
	shmemtask.c shmemusr.c 
Log Message:
changed examples to use new api - fifo not working yet

Index: shmemtask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemtask.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** shmemtask.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- shmemtask.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 9,22 ****
  #include "common.h"		/* shmem structure, SHMEM_KEY */

! static void *shmem_task = 0;	/* the task structure */
  enum { SHMEM_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { SHMEM_STACKSIZE = 1024 };	/* how big the stack is */

  static int key = SHMEM_KEY;
- static int id = 0;
  static SHMEM_STRUCT *shmem_struct = 0;

  /* task code, executed each timer interrupt */
! void shmem_code(void)
  {
    while (1) {
--- 9,22 ----
  #include "common.h"		/* shmem structure, SHMEM_KEY */

! static rtapi_task_handle  shmem_task;	/* the task */
! static rtapi_shmem_handle shmem_mem;	/* the shared memory area */
  enum { SHMEM_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { SHMEM_STACKSIZE = 1024 };	/* how big the stack is */

  static int key = SHMEM_KEY;
  static SHMEM_STRUCT *shmem_struct = 0;

  /* task code, executed each timer interrupt */
! void shmem_code ( int arg )
  {
    while (1) {
***************
*** 33,70 ****
  int rtapi_app_main(void)
  {
    int shmem_prio;
-   int t;

    if (0 != rtapi_init()) {
      return -1;
    }

    /* allocate and initialize the shared memory structure */
!   if (0 != rtapi_alloc_shmem(key, sizeof(SHMEM_STRUCT), &id,
! 			     (void **) &shmem_struct)) {
!     rtapi_print("shmemtask: can't allocate shared memory\n");
      return -1;
    }
    shmem_struct->heartbeat = 0;

    /* set the base timer period */
!   rtapi_clock_set_period(SHMEM_PERIOD_NSEC);

    /* set the task priority to lowest, since we only have one task */
    shmem_prio = rtapi_prio_lowest();

!   /* launch the shmem task */
!   shmem_task = rtapi_task_new();
!   if (0 == shmem_task) {
!     rtapi_print("shmemtask: can't create shmem task\n");
      return -1;
    }

!   if (0 != rtapi_task_start(shmem_task, shmem_code, shmem_prio, SHMEM_STACKSIZE, SHMEM_PERIOD_NSEC, 0)) {	/* 0 = no floating point */
!     rtapi_print("shmemtask: can't start shmem task\n");
      return -1;
    }

!   rtapi_print("shmemtask: started shmem task\n");

    return 0;
--- 33,87 ----
  int rtapi_app_main(void)
  {
+   int retval;
    int shmem_prio;

+   /*
    if (0 != rtapi_init()) {
      return -1;
    }
+   */

    /* allocate and initialize the shared memory structure */
!   retval = rtapi_shmem_new( key, sizeof(SHMEM_STRUCT), &shmem_mem );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "shmemtask init: rtapi_shmem_new returned %d\n", retval );
      return -1;
    }
+   retval = rtapi_shmem_getptr( shmem_mem, (void **)&shmem_struct );
+   if ( retval != RTAPI_SUCCESS ) {
+     rtapi_print( "shmemtask init: rtapi_shmem_getptr returned %d\n", retval );
+     return -1;
+   }
+ 
    shmem_struct->heartbeat = 0;

    /* set the base timer period */
!   retval = rtapi_clock_set_period(SHMEM_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "shmemtask init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }

    /* set the task priority to lowest, since we only have one task */
    shmem_prio = rtapi_prio_lowest();

!   /* create the shmem task */
!   retval = rtapi_task_new( &shmem_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "shmemtask init: rtapi_task_new returned %d\n", retval );
      return -1;
    }

!   /* start the shmem task */
!   retval = rtapi_task_start( shmem_task, shmem_code,
!                              0, shmem_prio,
!                              SHMEM_STACKSIZE,
!                              SHMEM_PERIOD_NSEC, RTAPI_NO_FP );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask init: rtapi_task_start returned %d\n", retval );
      return -1;
    }

!   rtapi_print("shmemtask init: started shmem task\n");

    return 0;
***************
*** 74,97 ****
  void rtapi_app_exit(void)
  {
    if (0 != shmem_struct) {
!     rtapi_print("shmemtask: heartbeat is %u\n", shmem_struct->heartbeat);
    }

!   if (0 != shmem_task) {
!     if (0 != rtapi_task_stop(shmem_task)) {
!       rtapi_print("shmemtask: can't stop shmem task\n");
!     }
!     if (0 != rtapi_task_delete(shmem_task)) {
!       rtapi_print("shmemtask: can't delete shmem task\n");
!     }
!     shmem_task = 0;
    }

!   if (0 != shmem_struct) {
!     if (0 != rtapi_free_shmem(key, sizeof(SHMEM_STRUCT),
! 			      id, (void *) shmem_struct)) {
!       rtapi_print("shmemtask: can't free shared memory\n");
!     }
!     shmem_struct = 0;
    }

--- 91,115 ----
  void rtapi_app_exit(void)
  {
+ int retval;
+ 
    if (0 != shmem_struct) {
!     rtapi_print("shmemtask exit: heartbeat is %u\n", shmem_struct->heartbeat);
    }

!   retval = rtapi_task_stop( shmem_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask exit: rtapi_task_stop returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_task_delete( shmem_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask exit: rtapi_task_delete returned %d\n", retval );
!     return;
    }

!   retval = rtapi_shmem_delete( shmem_mem );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask exit: rtapi_shmem_delete returned %d\n", retval );
!     return;
    }

Index: shmemusr.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemusr.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** shmemusr.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- shmemusr.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 6,10 ****

  static int key = SHMEM_KEY;
! static int id = 0;
  static SHMEM_STRUCT *shmem_struct;

--- 6,10 ----

  static int key = SHMEM_KEY;
! static ulapi_shmem_handle shmem_mem;
  static SHMEM_STRUCT *shmem_struct;

***************
*** 17,29 ****
  int main()
  {

!   if (0 != ulapi_init()) {
!     fprintf(stderr, "can't initialize user-level interface\n");
      return -1;
    }

!   if (0 != ulapi_alloc_shmem(key, sizeof(SHMEM_STRUCT), &id,
! 			     (void **) &shmem_struct) || 0 == shmem_struct) {
!     fprintf(stderr, "can't allocate shared memory\n");
      return -1;
    }
--- 17,37 ----
  int main()
  {
+ int retval;

!   retval = ulapi_init();
!   if ( retval != ULAPI_SUCCESS ) {
!     printf("shmemusr main: ulapi_init returned %d\n", retval );
      return -1;
    }

!   /* allocate the shared memory structure */
!   retval = ulapi_shmem_new( key, sizeof(SHMEM_STRUCT), &shmem_mem );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf( "shmemusr main: ulapi_shmem_new returned %d\n", retval );
!     return -1;
!   }
!   retval = ulapi_shmem_getptr( shmem_mem, (void **)&shmem_struct );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf( "shmemusr main: ulapi_shmem_getptr returned %d\n", retval );
      return -1;
    }
***************
*** 31,41 ****
    signal(SIGINT, quit);
    while (!done) {
!     printf("%u\n", shmem_struct->heartbeat);
      sleep(1);
    }

!   if (0 != shmem_struct) {
!     ulapi_free_shmem(key, sizeof(shmem_struct), id, shmem_struct);
!     shmem_struct = 0;
    }

--- 39,50 ----
    signal(SIGINT, quit);
    while (!done) {
!     printf("%lu\n", shmem_struct->heartbeat);
      sleep(1);
    }

!   retval = ulapi_shmem_delete( shmem_mem );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf("shmemusr main: ulapi_free_shmem returned %d\n", retval );
!     return -1;
    }