fp@1242: /*****************************************************************************
fp@1242:  *
fp@1242:  * $Id$
fp@1242:  *
fp@1242:  ****************************************************************************/
fp@1242: 
fp@1249: #include <errno.h>
fp@1249: #include <signal.h>
fp@1249: #include <stdio.h>
fp@1249: #include <string.h>
fp@1249: #include <sys/resource.h>
fp@1249: #include <sys/time.h>
fp@1249: #include <sys/types.h>
fp@1247: #include <unistd.h>
fp@1247: 
fp@1242: #include "ecrt.h"
fp@1242: 
fp@1249: #define PRIORITY 1
fp@1249: 
fp@1242: /****************************************************************************/
fp@1242: 
fp@1247: static unsigned int sig_alarms = 0;
fp@1247: static unsigned int user_alarms = 0;
fp@1247: 
fp@1247: /****************************************************************************/
fp@1247: 
fp@1247: void signal_handler(int signum) {
fp@1247:     switch (signum) {
fp@1247:         case SIGALRM:
fp@1247:             sig_alarms++;
fp@1247:             break;
fp@1247:     }
fp@1247: }
fp@1247: 
fp@1247: /****************************************************************************/
fp@1247: 
fp@1242: int main(int argc, char **argv)
fp@1242: {
fp@1244: 	ec_master_t *master;
fp@1244: 	ec_domain_t *domain;
fp@1246: 	ec_slave_config_t *sc;
fp@1247:     struct sigaction sa;
fp@1247:     struct itimerval tv;
fp@1244:     
fp@1244:     master = ecrt_request_master(0);
fp@1242: 	if (!master)
fp@1242: 		return -1;
fp@1242: 
fp@1244:     domain = ecrt_master_create_domain(master);
fp@1244:     if (!domain)
fp@1244:         return -1;
fp@1244: 
fp@1246:     sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52);
fp@1246:     if (!sc)
fp@1246:         return -1;
fp@1246: 
fp@1249:     printf("Activating master...\n");
fp@1247:     if (ecrt_master_activate(master))
fp@1247:         return -1;
fp@1247: 
fp@1249: #if PRIORITY
fp@1249:     pid_t pid = getpid();
fp@1249:     if (setpriority(PRIO_PROCESS, pid, -19))
fp@1249:         fprintf(stderr, "Warning: Failed to set priority: %s\n",
fp@1249:                 strerror(errno));
fp@1249: #endif
fp@1249: 
fp@1247:     sa.sa_handler = signal_handler;
fp@1247:     sigemptyset(&sa.sa_mask);
fp@1247:     sa.sa_flags = 0;
fp@1247:     if (sigaction(SIGALRM, &sa, 0)) {
fp@1247:         fprintf(stderr, "Failed to install signal handler!\n");
fp@1247:         return -1;
fp@1247:     }
fp@1247: 
fp@1249:     printf("Starting timer...\n");
fp@1247:     tv.it_interval.tv_sec = 0;
fp@1249:     tv.it_interval.tv_usec = 100000;
fp@1247:     tv.it_value.tv_sec = 0;
fp@1249:     tv.it_value.tv_usec = 1000;
fp@1247:     if (setitimer(ITIMER_REAL, &tv, NULL)) {
fp@1247:         fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
fp@1247:         return 1;
fp@1247:     }
fp@1247: 
fp@1249:     printf("Started.\n");
fp@1242: 	while (1) {
fp@1247:         sleep(1);
fp@1247: 
fp@1249: #if 1
fp@1249:         struct timeval t;
fp@1249:         gettimeofday(&t, NULL);
fp@1249:         printf("%u.%06u\n", t.tv_sec, t.tv_usec);
fp@1249: #endif
fp@1249: 
fp@1247:         while (sig_alarms != user_alarms) {
fp@1247:             ecrt_master_receive(master);
fp@1247:             ecrt_master_send(master);
fp@1247: 
fp@1247:             user_alarms++;
fp@1247:         }
fp@1242: 	}
fp@1242: 
fp@1242: 	return 0;
fp@1242: }
fp@1242: 
fp@1242: /****************************************************************************/