Examples with RtThread joprt.RtThread used on opensource projects

Example 21 with RtThread

use of joprt.RtThread in project jop by jop-devel.

the class PeriodicStack method main.

public static void main(String[] args) {
    RtThread rt = new RtThread(10, 100000) {

        public void run() {
            waitForNextPeriod();
            int ts_old = Native.rd(Const.IO_US_CNT);
            for (; ; ) {
                waitForNextPeriod();
                int ts = Native.rd(Const.IO_US_CNT);
                Result.printPeriod(ts_old, ts);
                ts_old = ts;
            }
        }
    };
    //
    // do busy work
    //
    RtThread rts = new RtThread(9, 1000000) {

        public void run() {
            f1();
        }

        void f1() {
            f2();
        }

        void f2() {
            f3();
        }

        void f3() {
            f4();
        }

        void f4() {
            f5();
        }

        void f5() {
            f6();
        }

        void f6() {
            f7();
        }

        void f7() {
            f8();
        }

        void f8() {
            f9();
        }

        void f9() {
            f10();
        }

        void f10() {
            loop();
        }

        void loop() {
            for (; ; ) {
                System.out.print('*');
                waitForNextPeriod();
                int ts = Native.rd(Const.IO_US_CNT) + 990000;
                while (ts - Native.rd(Const.IO_US_CNT) > 0) ;
            }
        }
    };
    RtThread.startMission();
    // sleep
    for (; ; ) {
        Timer.wd();
        try {
            RtThread.sleepMs(1200);
        } catch (Exception e) {
        }
    }
}

Example 22 with RtThread

use of joprt.RtThread in project jop by jop-devel.

the class PeriodicStack2 method main.

public static void main(String[] args) {
    // use serial line for debug output
    Dbg.initSer();
    RtThread rt = new RtThread(10, 100000) {

        public void run() {
            // f1();	does NOT work!!!
            f4();
        }

        void f1() {
            f2();
        }

        void f2() {
            f3();
        }

        void f3() {
            f4();
        }

        void f4() {
            f5();
        }

        void f5() {
            f6();
        }

        void f6() {
            f7();
        }

        void f7() {
            f8();
        }

        void f8() {
            f9();
        }

        void f9() {
            f10();
        }

        void f10() {
            loop();
        }

        void loop() {
            waitForNextPeriod();
            int ts_old = Native.rd(Const.IO_US_CNT);
            for (; ; ) {
                waitForNextPeriod();
                int ts = Native.rd(Const.IO_US_CNT);
                Result.printPeriod(ts_old, ts);
                ts_old = ts;
            }
        }
    };
    //
    // do busy work
    //
    RtThread rts = new RtThread(9, 1000000) {

        public void run() {
            f1();
        }

        void f1() {
            f2();
        }

        void f2() {
            f3();
        }

        void f3() {
            f4();
        }

        void f4() {
            f5();
        }

        void f5() {
            f6();
        }

        void f6() {
            f7();
        }

        void f7() {
            f8();
        }

        void f8() {
            f9();
        }

        void f9() {
            f10();
        }

        void f10() {
            loop();
        }

        void loop() {
            for (; ; ) {
                Dbg.wr('*');
                waitForNextPeriod();
                int ts = Native.rd(Const.IO_US_CNT) + 990000;
                while (ts - Native.rd(Const.IO_US_CNT) > 0) ;
            }
        }
    };
    RtThread.startMission();
    // sleep
    for (; ; ) {
        Timer.wd();
        try {
            RtThread.sleepMs(1200);
        } catch (Exception e) {
        }
    }
}

Example 23 with RtThread

use of joprt.RtThread in project jop by jop-devel.

the class Utilization method main.

public static void main(String[] args) {
    RtThread rt = new RtThread(10, PERIOD) {

        public void run() {
            int busy = PERIOD * 9 / 10;
            for (; ; ) {
                int t = Native.rd(Const.IO_US_CNT) + busy;
                while (t - Native.rd(Const.IO_US_CNT) > 0) {
                    ;
                }
                waitForNextPeriod();
            }
        }
    };
    RtThread.startMission();
    int t1, t2, t3;
    int idle, timeout;
    idle = 0;
    t1 = Native.rd(Const.IO_US_CNT);
    timeout = t1;
    for (; ; ) {
        t2 = Native.rd(Const.IO_US_CNT);
        t3 = t2 - t1;
        t1 = t2;
        if (t3 < MIN_US) {
            idle += t3;
        }
        if (t2 - timeout > 1000000) {
            Timer.wd();
            t2 -= timeout;
            System.out.print(t2);
            System.out.print(" ");
            System.out.print(idle);
            System.out.print(" ");
            idle *= 100;
            idle /= t2;
            idle = 100 - idle;
            System.out.print("CPU utilization [%]: ");
            System.out.print(idle);
            System.out.println();
            idle = 0;
            t1 = Native.rd(Const.IO_US_CNT);
            timeout = t1;
        }
    }
}

Example 24 with RtThread

use of joprt.RtThread in project jop by jop-devel.

the class ContextSwitch method main.

public static void main(String[] args) {
    // use serial line for debug output
    Dbg.initSerWait();
    result = new int[CNT];
    // low priority thread
    RtThread lprt = new RtThread(5, 100000) {

        public void run() {
            for (; ; ) {
                ts = Native.rd(Const.IO_CNT);
            }
        }
    };
    RtThread rt = new RtThread(10, 5000) {

        public void run() {
            int i;
            // give lprt a chance to start
            waitForNextPeriod();
            for (i = 0; i < CNT; ++i) {
                waitForNextPeriod();
                result[i] = Native.rd(Const.IO_CNT) - ts;
            }
            result();
        }

        void result() {
            int max = 0;
            int min = 999999999;
            int i;
            for (i = 0; i < CNT; ++i) {
                int val = result[i] - t_diff;
                if (val < min)
                    min = val;
                if (val > max)
                    max = val;
                Dbg.intVal(val);
                Dbg.wr('\n');
            }
            Dbg.intVal(min);
            Dbg.intVal(max);
            Dbg.wr('\n');
            for (; ; ) waitForNextPeriod();
        }
    };
    // measure time for measurement
    ts = Native.rd(Const.IO_CNT);
    ts = Native.rd(Const.IO_CNT) - ts;
    t_diff = ts;
    RtThread.startMission();
    for (; ; ) {
        // busy do nothing
        ;
    }
}

Example 25 with RtThread

use of joprt.RtThread in project jop by jop-devel.

the class LegoBoardTest method main.

/**
	 * @param args
	 */
public static void main(String[] args) {
    System.out.println("Initializing.");
    /*	Motor.setMotor(0, Motor.STATE_FORWARD, true, Motor.MAX_DUTYCYCLE);
		Motor.setMotor(1, Motor.STATE_FORWARD, true, Motor.MAX_DUTYCYCLE);
		Motor.setMotor(2, Motor.STATE_FORWARD, true, Motor.MAX_DUTYCYCLE);
		//Native.wr(-1 << 1, Motor.IO_OUTPUT_MOTOR[1]);
*/
    if (KNIGHT_RIDER_DEMO) {
        val = LED0;
        up = true;
        new RtThread(10, 100 * 1000) {

            public void run() {
                for (; ; ) {
                    knightRiderLoop();
                    waitForNextPeriod();
                }
            }
        };
    }
    if (SPEAKER_DEMO) {
        up = true;
        flag = false;
        value = 10;
        new RtThread(10, 1 * 1000) {

            public void run() {
                for (; ; ) {
                    speakerLoop();
                    waitForNextPeriod();
                }
            }
        };
    }
    new RtThread(10, 1000 * 1000) {

        public void run() {
            do {
                System.out.println("New measurement...");
                System.out.println();
                if (FREEMEMORY) {
                    System.out.print("Free memory: ");
                    System.out.println(GC.freeMemory());
                }
                if (BUTTONS) {
                    for (int i = 0; i < 4; i++) {
                        // uncomment this to have fun with javac
                        //System.out.println("Button " + i + ": " + Buttons.getButton(i));
                        // uncomment this to have fun with JOP
                        //System.out.println("Button " + i + ": " + new Boolean(Buttons.getButton(i)));
                        System.out.print("Button ");
                        System.out.print(i);
                        System.out.print(": ");
                        System.out.println(Buttons.getButton(i) ? "Down" : "Up");
                    }
                }
                if (DIGITALINPUTS) {
                    for (int i = 0; i < 3; i++) {
                        System.out.print("Digital input ");
                        System.out.print(i);
                        System.out.print(": ");
                        System.out.println(DigitalInputs.getDigitalInput(i) ? "1" : "0");
                    }
                //output.append("Digital input ").append(i).append(": ").append(DigitalInputs.getDigitalInput(i) ? "1" : "0").append("\n");
                }
                if (FUTUREUSE) {
                    System.out.print("Unknown input: 0x");
                    System.out.println(Integer.toHexString((FutureUse.readPins())));
                }
                if (LEDS) {
                    Leds.setLeds(-1);
                }
                if (MICROPHONE) {
                    System.out.print("Microphone: ");
                    System.out.println(Microphone.readMicrophone());
                }
                if (MOTORS) {
                    Motor.synchronizedReadBackEMF();
                    for (int i = 0; i < 2; i++) {
                        // MS: two times new to read the back EMF!!!
                        int[] backEMF = new Motor(i).getSynchronizedBackEMF();
                        System.out.print("Motor ");
                        System.out.print(i);
                        System.out.print(" back-emf measurement: ");
                        System.out.print(backEMF[0] - 0x100);
                        System.out.print(", ");
                        System.out.println(backEMF[1] - 0x100);
                    }
                }
                if (SENSORS) {
                    Sensors.synchronizedReadSensors();
                    for (int i = 0; i < 3; i++) {
                        System.out.print("Analog sensor ");
                        System.out.print(i);
                        System.out.print(" : ");
                        System.out.print(Sensors.getBufferedSensor(i));
                        System.out.print(" (");
                        System.out.print(Sensors.readSensorValueAsPercentage(i));
                        System.out.println("%)");
                    }
                }
                if (PLD_RAW_INPUT) {
                    System.out.print("PLD raw input: ");
                    System.out.println(Native.rd(Const.IO_LEGO + 7));
                }
                System.out.println();
                System.out.println("Measurement finished.");
                if (!REPEAT)
                    break;
                waitForNextPeriod();
            } while (true);
        }
    };
    RtThread.startMission();
    System.out.println("Started.");
}