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#include <features.h>
#include <time.h>
#include <sys/time.h>
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <string.h>
#include <signal.h>
#include <unistd.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netdb.h>
#include <sys/ioctl.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#define million 1000000L
timer_t firstTimerID, secondTimerID, thirdTimerID;
double Task2ms_Raster, Task10ms_Raster, Task100ms_Raster;
struct sockaddr_in addr, client;
int acceptSocket;
char buf[256];
long rc, sentbytes;
int port = 18037;
void TASK1(Task2ms_Raster)
{
struct timespec start, stop;
double startTime, stopTime;
if((startTime = clock_gettime(CLOCK_REALTIME, &start)) == -1) {
perror("clock gettime");
}
startTime =start.tv_sec + 0.0000001 * start.tv_nsec;
printf("start time is %lf", startTime);
// return EXIT_SUCCESS;
/* Trigger DAQ for the 2ms XCP raster. */
if(XCPEVENT_DAQ_OVERLOAD & Xcp_DoDaqForEvent_2msRstr())
{
++numDaqOverload2ms;
}
/* Update those variables which are modified every 2ms. */
counter32 += slope32;
/* Trigger STIM for the 2ms XCP raster. */
if(enableBypass2ms)
{
if(XCPEVENT_MISSING_DTO & Xcp_DoStimForEvent_2msRstr())
{
++numMissingDto2ms;
}
}
if((stopTime = clock_gettime(CLOCK_REALTIME, &stop)) == -1) {
perror("clock gettime");
}
stopTime = stop.tv_sec + 0.0000001 * stop.tv_nsec;
printf("stop time is %lf", stopTime);
duration2ms = (stopTime- startTime);
printf("time difference for task1 is= %ld\n", duration2ms);
}
void TASK2(Task10ms_Raster)
{
struct timespec start, stop;
double startTime, stopTime;
if((startTime = clock_gettime(CLOCK_REALTIME, &start)) == -1) {
perror("clock gettime");
}
startTime =start.tv_sec + 0.0000001 * start.tv_nsec;
printf("start time is %lf", startTime);
/* Trigger DAQ for the 10ms XCP raster. */
if(XCPEVENT_DAQ_OVERLOAD & Xcp_DoDaqForEvent_10msRstr())
{
++numDaqOverload10ms;
}
/* Update those variables which are modified every 10ms. */
counter16 += slope16;
/* Trigger STIM for the 10ms XCP raster. */
if(enableBypass10ms)
{
if(XCPEVENT_MISSING_DTO & Xcp_DoStimForEvent_10msRstr())
{
++numMissingDto10ms;
}
}
if((stopTime = clock_gettime(CLOCK_REALTIME, &stop)) == -1) {
perror("clock gettime");
}
stopTime = stop.tv_sec + 0.0000001 * stop.tv_nsec;
printf("stop time is %lf", stopTime);
duration10ms = (stop.tv_sec - start.tv_sec)
+ (double)(stop.tv_nsec - start.tv_nsec)
/(double)million;
printf("time difference for task2 is= %ld\n", duration10ms);
}
void TASK3(Task100ms_Raster)
{
struct timespec start, stop;
double startTime, stopTime;
if((startTime = clock_gettime(CLOCK_REALTIME, &start)) == -1)
{
perror("clock gettime");
}
startTime =start.tv_sec + 0.0000001 * start.tv_nsec;
printf("start time is %lf", startTime);
/* Trigger DAQ for the 100ms XCP raster. */
if(XCPEVENT_DAQ_OVERLOAD & Xcp_DoDaqForEvent_100msRstr())
{
++numDaqOverload100ms;
}
/* Update those variables which are modified every 100ms. */
counter8 += slope8;
/* Trigger STIM for the 100ms XCP raster. */
if(enableBypass100ms)
{
if(XCPEVENT_MISSING_DTO & Xcp_DoStimForEvent_100msRstr())
{
++numMissingDto100ms;
}
}
if((stopTime = clock_gettime(CLOCK_REALTIME, &stop)) == -1) {
perror("clock gettime");
}
stopTime = stop.tv_sec + 0.0000001 * stop.tv_nsec;
printf("stop time is %lf", stopTime);
Xcp_CmdProcessor();
duration100ms = (stop.tv_sec - start.tv_sec)
+ (double)(stop.tv_nsec - start.tv_nsec)
/(double)million;
printf("time difference for task3 is= %ld\n", duration100ms);
}
/*The handler checks that the value stored in sival_ptr matches a given timerID
variable. The sival_ptr is the same as the one we set in makeTimer(),
though here it lives in a different structure.
Obviously, it got copied from there to here on the way to this signal handler.
The point is that the timerID is what is used to determine which timer just went off
and determine what to do next */
static void timerHandler(int sig, siginfo_t *si, void *uc)
{
timer_t *tidp;
tidp = si->si_value.sival_ptr;
if (*tidp == firstTimerID)
TASK1(Task2ms_Raster);
else if (*tidp == secondTimerID)
TASK2(Task10ms_Raster);
else if (*tidp == thirdTimerID)
TASK3(Task100ms_Raster);
}
/*
The function takes a pointer to a timer_t variable that will be filled with the
timer ID created by timer_create(). This pointer is also saved in the sival_ptr
variable right before calling timer_create(). In this function notice that we
always use the SIGRTMIN signal, so expiration of any timer causes this signal to
be raised. The signal handler I've written for that signal is timerHandler.
*/
static int makeTimer(char *name, timer_t *timerID, int expireMS, int intervalMS)
{
//sigset_t mask;
struct sigevent te;
struct itimerspec its;
struct sigaction sa;
int sigNo = SIGRTMIN;
/* Set up signal handler. */
sa.sa_flags = SA_SIGINFO;
sa.sa_sigaction = timerHandler;
sigemptyset(&sa.sa_mask);
if (sigaction(sigNo, &sa, NULL) == -1)
{
perror("sigaction");
}
/* Set and enable alarm */
te.sigev_notify = SIGEV_SIGNAL;
te.sigev_signo = sigNo;
te.sigev_value.sival_ptr = timerID;
timer_create(CLOCK_REALTIME, &te, timerID);
its.it_interval.tv_sec = 0;
its.it_interval.tv_nsec = intervalMS * 1000000;
its.it_value.tv_sec = 0;
its.it_value.tv_nsec = expireMS * 1000000;
timer_settime(*timerID, 0, &its, NULL);
return 1;
}
void timerCalculation()
{
makeTimer("First Timer", &firstTimerID, 2, 2); //2ms
makeTimer("Second Timer", &secondTimerID, 10, 10); //10ms
makeTimer("Third Timer", &thirdTimerID, 100, 100); //100ms
}
int CreateSocket()
{
socklen_t len = sizeof(client);
// Socket creation for UDP
acceptSocket=socket(AF_INET,SOCK_DGRAM,0);
if(acceptSocket==-1)
{
printf("Failure: socket creation is failed, failure code\n");
return 1;
}
else
{
printf("Socket started!\n");
}
//non blocking mode
/* rc = ioctl(acceptSocket, FIONBIO, (char *)&flag);
if (rc < 0)
{
printf("\n ioctl() failed \n");
return 0;
}*/
//Bind the socket
memset(&addr, 0, sizeof(addr));
addr.sin_family=AF_INET;
addr.sin_port=htons(port);
addr.sin_addr.s_addr=htonl(INADDR_ANY);
rc=bind(acceptSocket,(struct sockaddr*)&addr,sizeof(addr));
if(rc== -1)
{
printf("Failure: listen, failure code:\n");
return 1;
}
else
{
printf("Socket an port %d \n",port);
}
if(acceptSocket == -1)
{
printf("Fehler: accept, fehler code:\n");
return 1;
}
else
{
while(rc!=-1)
{
rc=recvfrom(acceptSocket,buf, 256, 0, (struct sockaddr*) &client, &len);
if(rc==0)
{
printf("Server has no connection..\n");
break;
}
if(rc==-1)
{
printf("something went wrong with data %s", strerror(errno));
break;
}
XcpIp_RxCallback((uint16) rc, (uint8*) buf, (uint16) port);
timerCalculation();
}
}
close(acceptSocket);
return 0;
}
int main()
{
Xcp_Initialize();
CreateSocket();
return 0;
}
void XcpApp_IpTransmit(uint16 XcpPort, Xcp_StatePtr8 pBytes, uint16 numBytes)
{
if ((long)XcpPort==port){
sentbytes = sendto(acceptSocket,(char*)pBytes,(long)numBytes,0, (struct sockaddr*)&client, sizeof(client));
}
XcpIp_TxCallback(port,(uint16)sentbytes);
}
我創建的服務器端程序，用於從客戶端接收數據和發送響應返回給client.There是一些API，其定義不如上所示。如何解決這個Linux的定時器
我正在寫一個應用程序，它使用定時器以固定採樣率（200Hz）進行一些數據採集和處理。該應用程序像服務器一樣運行並在後臺運行。它應該可以從其他進程或來自UDP的其他機器進行控制。爲此，我使用timer_create() API定期生成信號，並調用處理程序進行採集和處理。
當從UDP收到'start'命令時調用上面的代碼。要檢查命令，我的主程序中有一個無限循環，調用recvfrom()系統調用。
問題：在調試模式下 - 我從客戶端接收數據，計時器被調用，並且卡在 - static void timerHandler(int sig, siginfo_t *si, void *uc) {。
對於這個問題的原因：我創建了多個定時器，比如來自單個進程的3個定時器。並且所有都應該落在單個定時器處理程序中。
但它給出的總線錯誤和"si->si_value.sival_ptr" ==>是垃圾值和一些如何被損壞。 - 更多信息請見：http://www.graphics-muse.org/wp/?p=868#sthash.cuvJDp39.dpuf。
任何人都可以幫助我？