7

#include <unistd.h>

     8

#include <sys/time.h>

     9

#include <stdio.h>

    10

#include <errno.h>

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#include <string.h>

    12

#include <signal.h>

    13

    18

static unsigned int sig_alarms = 0;

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static unsigned int user_alarms = 0;

    20

    21

/****************************************************************************/

    22

    23

void signal_handler(int signum) {

    24

    switch (signum) {

    25

        case SIGALRM:

    26

            sig_alarms++;

    27

            break;

    28

    }

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}

    30

    31

/****************************************************************************/

    32

    38

    struct sigaction sa;

    39

    struct itimerval tv;

    53

    if (ecrt_master_activate(master))

    54

        return -1;

    55

    56

    sa.sa_handler = signal_handler;

    57

    sigemptyset(&sa.sa_mask);

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    sa.sa_flags = 0;

    59

    if (sigaction(SIGALRM, &sa, 0)) {

    60

        fprintf(stderr, "Failed to install signal handler!\n");

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        return -1;

    62

    }

    63

    64

    tv.it_interval.tv_sec = 0;

    65

    tv.it_interval.tv_usec = 10000;

    66

    tv.it_value.tv_sec = 0;

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    tv.it_value.tv_usec = 1;

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    if (setitimer(ITIMER_REAL, &tv, NULL)) {

    69

        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));

    70

        return 1;

    71

    }

    72

    74

        sleep(1);

    75

    76

        while (sig_alarms != user_alarms) {

    77

    78

#if 0

    79

            struct timeval t;

    80

            gettimeofday(&t, NULL);

    81

            printf("%u %u\n", t.tv_sec, t.tv_usec);

    82

#endif

    83

            ecrt_master_receive(master);

    84

            ecrt_master_send(master);

    85

    86

            user_alarms++;

    87

        }