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CNC 的开放码,EMC2 V2.2.8版

This is an example of RTAPI semaphores between two real-time
processes. 

NOTE: The basic concepts of this example haven't changes since
this was originally written, but some details have changed.
See the notes below.

The master process (master.c) creates a semaphore,
'master_sem', and runs a period timer task every millisecond that
gives the semaphore and accumulates a local count of the number of
times it has been given.
NOTE: Changed to every 1 second to make prints to the kernel message
log readable.

The slave process (slave.c) creates a task that blocks on the global
semaphore 'master_sem' and accumulates a local count of the number of
times it has been taken.
NOTE: The semaphore is no longer global, instead the master and
slave share it by opening it with the same key.

The slave task is not attached to a timer, accomplished by passing
a 0 for the 'period_nsec' argument of rtapi_task_start() and then
manually running its first occurrence by calling rtapi_task_resume().
NOTE: The slave is still not attached to a timer.  I refer to this
as being "free-running".  However the task_new and task_start api
has changed, you no longer call task_start for a free-running task,
instead you call task_resume only.

Since the slave process references a global variable, 'master_sem',
declared in common.h and defined in master.c, master.o must be loaded
before slave.o or an undefined symbol will result.
NOTE: No longer true.  Since both modules open the semaphore using
a key, they can be loaded in any order.  The semaphore is not global,
and the only thing in common.h is a #define for the key.

The cumulative counts are printed to the console when the tasks are
deleted. They should be about the same, differing only by the number
of times the master task gave the semaphore before the slave task was
initiated.