【发布时间】：2014-02-27 08:42:50
【问题描述】：
#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);
}
我创建了一个服务器端程序，用于从客户端接收数据并将响应发送回客户端。上面没有显示一些api的定义。
我正在编写一个应用程序，它使用计时器以固定采样率 (200Hz) 进行一些数据采集和处理。该应用程序就像一个服务器并在后台运行。它应该可以通过 UDP 被其他进程或其他机器控制。
为此，我使用timer_create() API 定期生成信号并调用处理程序来进行采集和处理。
当从 UDP 接收到“start”命令时，将调用上述代码。为了检查命令，我的主程序中有一个无限循环，调用 recvfrom() syscall。
问题：在调试模式下 - 我正在从客户端接收数据，计时器已被调用，它卡在 - static void timerHandler( int sig, siginfo_t *si, void *uc ) { 。
问题的原因：我正在创建多个计时器，例如来自单个进程的 3 个计时器。并且都应该在单个 Timer 处理程序中着陆。
但它给出的总线错误和"si->si_value.sival_ptr" ==> 具有垃圾价值，而且它是如何被破坏的。 - 查看更多信息：http://www.graphics-muse.org/wp/?p=868#sthash.cuvJDp39.dpuf。
有人可以帮我吗？
【问题讨论】：