wdog.c

VXWORKS下的SELECT,看门狗

#include <vxWorks.h>
#include <taskLib.h>
#include <msgQLib.h>
#include <semLib.h>
#include <wdLib.h>

static int giTaskIdHighPri = ERROR;
static int giTaskIdLowPri = ERROR;
static MSG_Q_ID gMsgTest = NULL;
static SEM_ID   gSemTest = NULL;
static WDOG_ID  gDogTest = NULL;

int testInit( void );
int testDInit( void );
int taskHighPri( void );
int taskLowPri( void );
void WDOG_ISR ( void );

int testInit( void )
{
    if( gMsgTest == NULL )
    {
        gMsgTest = msgQCreate( 100, 4, MSG_Q_FIFO );
        if( gMsgTest == NULL )
        {
            printf(" Creat msgQ failed " );
            testDInit( );
            return ( 0 );
        }
    }
    if( gSemTest == NULL )
    {
        gSemTest = semBCreate( SEM_Q_PRIORITY, SEM_FULL );
        if( gSemTest == NULL)
        {
            printf(" Creat semM failed " );
            testDInit( );
            return ( 0 );
        }
    }
    if( gDogTest == NULL )
    {
        if( ( gDogTest = wdCreate( ) ) == NULL )
        {
            printf( " create WDOG failed.\n ");
            testDInit( );
            return( 0 );
        }
    }        
    if( giTaskIdHighPri == ERROR )
    {
        if( ( giTaskIdHighPri = taskSpawn( "taskHighPri", 120, 0 , 0x20000 , ( FUNCPTR )taskHighPri,
                                            0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ) ) == ERROR )
            {
                printf( " Ceate task failed " );
                testDInit( );
                return( 0 );
            }
    }
    if( giTaskIdLowPri == ERROR )
    {
        if( ( giTaskIdLowPri = taskSpawn( "taskLowPri", 121, 0 , 0x20000 , ( FUNCPTR )taskLowPri,
                                            0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ) ) == ERROR )
            {
                printf( " Ceate task failed " );
                testDInit( );
                return( 0 );
            }
    }
    return( 1 );
}
  
int testDInit( void )
{
    if( giTaskIdHighPri != ERROR )
    {
        if( taskDelete( giTaskIdHighPri ) == ERROR )
        {
            printf(" Delete task Error.\n");
        }
        giTaskIdHighPri = ERROR;
    }    
    if( giTaskIdLowPri != ERROR )
    {
        if( taskDelete( giTaskIdLowPri ) == ERROR )
        {
            printf(" Delete task Error.\n");
        }
        giTaskIdLowPri = ERROR;
    }
    if( gMsgTest != NULL )
    {
        if( msgQDelete( gMsgTest ) == ERROR )
        {
            printf(" Delete gmsgQid Error.\n");
        }
        gMsgTest = NULL;
    }
    if( gSemTest != NULL )
    {
        if( semDelete( gSemTest ) == ERROR )
        {
            printf(" Delete sem  Error. \n " );
        }
        gSemTest = NULL;
    }
    if( gDogTest != NULL)
    {
        if( wdDelete( gDogTest ) == ERROR )
        {
            printf( "Delete WDDOG ERROR\n" );
        }
        gDogTest = NULL;
    }
    
    return( 1 );
}

int taskHighPri( void )
{
    int a = 100;
    int b;
    while( giTaskIdHighPri != ERROR )
    {
        if( wdStart( gDogTest,200, (FUNCPTR)WDOG_ISR, 0 ) == ERROR )
        {
            printf( " Start WDDOG ERROR.\n " );
            return( 0 );
        }
        printf(" taskHighPri run 1 .\n " );
        if( semTake( gSemTest,WAIT_FOREVER ) == ERROR )
        {
            printf( "semTake ERROR" );
            return( 0 );
        }
        printf( " taskHighPri semTake sem\n " );
        if( semTake( gSemTest,WAIT_FOREVER ) == ERROR )
        {
            printf( "semTake ERROR" );
            return( 0 );
        }
        printf(" taskHighPri run 2 .\n " );
        if( ( msgQSend( gMsgTest, ( char * )&a, 4, WAIT_FOREVER, MSG_PRI_NORMAL ) ) == ERROR )
        {
            printf( "msgQsend Error." );
        }
        if( ( msgQReceive( gMsgTest,( char * )&b, 4, WAIT_FOREVER ) ) == ERROR )
        {
            printf( "msgQRcv Error." );
        }
        printf( "b=%d\n",b );
        if( ( msgQReceive( gMsgTest, ( char * )&b, 4, WAIT_FOREVER ) ) == ERROR )
        {
            printf( "msgQRcv Error." );
        }
        printf(" taskHighPri run 3 .\n " );
        printf( "b=%d\n",b );

   }  
    return ( 1 );
}

int taskLowPri( void )
{
    int a = 200;
    while( giTaskIdLowPri != ERROR )
    {  
        
        printf( " taskLowPri run 1.\n ");
        if( semGive( gSemTest ) == ERROR )
        {
            printf( " semGive ERROR " );
        }        
        printf( " taskLowPri run 2.\n ");
        if( ( msgQSend( gMsgTest, ( char * )&a, 4, WAIT_FOREVER, MSG_PRI_NORMAL ) ) == ERROR )      
        {                                                                       
            printf( "msgQsend Error." );
        }
        semGive( gSemTest );
    }    
    return( 1 );
}
        
void WDOG_ISR ( void )
{
    logMsg( " *************WDOG_ISR *************** \n " );

}