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71 // At first, TimeDispatch will call init_callback. |
71 // At first, TimeDispatch will call init_callback. |
72 SetAlarm(NULL, 0, init_callback, 0, 0); |
72 SetAlarm(NULL, 0, init_callback, 0, 0); |
73 LeaveMutex(); |
73 LeaveMutex(); |
74 } |
74 } |
75 |
75 |
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76 void canReceiveLoop_signal(int sig) |
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77 { |
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78 } |
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79 /* We assume that ReceiveLoop_task_proc is always the same */ |
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80 static void (*rtai_ReceiveLoop_task_proc)(CAN_PORT) = NULL; |
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81 |
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82 /** |
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83 * Enter in realtime and start the CAN receiver loop |
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84 * @param port |
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85 */ |
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86 void unixtimer_canReceiveLoop(CAN_PORT port) |
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87 { |
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88 |
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89 /*get signal*/ |
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90 signal(SIGTERM, canReceiveLoop_signal); |
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91 rtai_ReceiveLoop_task_proc(port); |
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92 } |
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93 |
76 void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr) |
94 void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr) |
77 { |
95 { |
78 pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port); |
96 pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port); |
79 } |
97 } |
80 |
98 |