PROSAGA码农传奇-TSN-如何使用绝对开始时间安排实时任务？

如何使用绝对开始时间安排实时任务？

作者: 镜乃Kagamino
发布时间: 2024-03-24 11:00:03 (2月前)
转自：

<div class =“post-text”itemprop =“text”>
  <P>
    该
     <code>
      clock_nanosleep()
    </code>
     POSIX函数有一个绝对截止日期模式：
  </p>
   <pre>
    <code>
      #define NSEC_PER_SEC 1000000000
/* Initial delay, 7.5ms */
const long start_delay_ns = 7500000;
/* Cycle time, 1ms */
const long cycle_time_ns = 1000000;
struct timespec deadline;

clock_gettime(CLOCK_MONOTONIC, &deadline);
deadline.tv_nsec += start_delay_ns;
deadline.tv_sec += deadline.tv_nsec / NSEC_PER_SEC;
deadline.tv_nsec %= NSEC_PER_SEC;

for (;;)
{
    struct timespec now;

/* Sleep until deadline */
    while (clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &deadline, NULL) != 0)
        if (errno != EINTR)
            return; /* error handling here */

pFunction(pArguments);    /* thread function: send data */

/* Calculate next deadline */
    deadline.tv_nsec += cycle_time_ns;
    deadline.tv_sec += deadline.tv_nsec / NSEC_PER_SEC;
    deadline.tv_nsec %= NSEC_PER_SEC;

clock_gettime(CLOCK_MONOTONIC, &now);
    if (now.tv_sec > deadline.tv_sec || (now.tv_sec == deadline.tv_sec && deadline.tv_nsec > now.tv_nsec))
        return; /* time overrun error handling here */
}

</code>
  </pre>
</DIV>