#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 = 18033;
void TASK1(Task2ms_Raster)
{
struct timespec start, stop;
uint32 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 %ld", stopTime);
duration2ms = (uint32)(stopTime- startTime);
// printf( "time difference is= %ld\n", duration2ms );
}
void TASK3(Task100ms_Raster)
{
struct timespec start, stop;
uint32 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 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 )
{
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;
}
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");
}
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 );
// create a timer
makeTimer("First Timer", &firstTimerID, 2, 2); //2ms
makeTimer("Second Timer", &secondTimerID, 10, 10); //10ms
makeTimer("Third Timer", &thirdTimerID, 100, 100); //100ms
}
}
close(acceptSocket);
return 0;
}
int main()
{
Xcp_Initialize();
CreateSocket();
return 0;
}
我正在研究客户端和服务器架构。服务器代码如上所示，我创建了一个套接字，通过ip地址和端口号从客户端接收请求。服务器正在等待来自客户端的请求并将响应发送回客户端。我还创建了定时器，每2ms，10ms和100ms调用te任务。我还没有为计时器任务创建一个单独的线程。刚刚创建了一个处理程序（信号处理程序）。
我正在创建多个计时器，比如3个计时器，所有这些都应该落在单个Timer处理程序中。 但它给出了总线错误和“si-＆gt; si_value.sival_ptr”==＆gt;是垃圾价值和一些如何被破坏。
请帮帮我。