构建实时程序(自动启动)

# 交叉编译器设置
CC := $(X_GCC_ROOT_PATH)/bin/x86_64-sinsegye-linux-gnu-gcc
CXX := $(X_GCC_ROOT_PATH)/bin/x86_64-sinsegye-linux-gnu-g++
SYSROOT := $(X_GCC_ROOT_PATH)/x86_64-sinsegye-linux-gnu/sysroot

# 目录设置
SRC_DIR := src
BUILD_DIR := build
BIN_DIR := bin

# 构建文件选择
SOURCES := $(wildcard $(SRC_DIR)/*.c)
OBJECTS := $(patsubst $(SRC_DIR)/%.c,$(BUILD_DIR)/%.o,$(SOURCES))
TARGET := $(BIN_DIR)/hello

# 编译选项
CFLAGS := --sysroot=$(SYSROOT) -I$(SYSROOT)/usr/include
LDFLAGS := --sysroot=$(SYSROOT) -L$(SYSROOT)/usr/lib -L$(SYSROOT)/lib64 \
          $(CUSTOM_LIBS)
          -Wl,--no-as-needed -Wl,@$(SYSROOT)/usr/lib64/cobalt.wrappers \
          -Wl,@$(SYSROOT)/usr/lib64/modechk.wrappers \
          -Wl,--wrap=main \
          -Wl,--dynamic-list=$(SYSROOT)/usr/lib64/dynlist.ld \
          $(SYSROOT)/usr/lib64/xenomai/bootstrap.o \
          -lcobalt -lmodechk -lm -ldl -lrt -lpthread

# Rules
.PHONY: all clean

all: $(TARGET)

$(TARGET): $(OBJECTS) | $(BIN_DIR)
        $(CC) $(LDFLAGS) -o $@ $^

$(BUILD_DIR)/%.o: $(SRC_DIR)/%.c | $(BUILD_DIR)
        $(CC) $(CFLAGS) -o $@ -c $<

$(BIN_DIR) $(BUILD_DIR):
        mkdir -p $@

clean:
        rm -rf $(BUILD_DIR) $(BIN_DIR)

# End of Makefile

#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sched.h>

// 线程函数
void* thread_function(void* arg) {
    char thread_name[16];
    pthread_getname_np(pthread_self(), thread_name, sizeof(thread_name));
    printf("Thread %s is running with FIFO scheduling, priority 88\n", thread_name);

    // 执行一些工作
    for (int i = 0; i < 500; i++) {
        printf("Thread %s is working...\n", thread_name);
        sleep(1); // 模拟工作
    }

    return NULL;
}

int main() {
    pthread_t thread_id;
    pthread_attr_t attr;
    struct sched_param param;

    // 初始化线程属性
    pthread_attr_init(&attr);

    // 设置线程调度策略为 FIFO
    pthread_attr_setschedpolicy(&attr, SCHED_FIFO);

    // 设置线程优先级
    param.sched_priority = 88;
    pthread_attr_setschedparam(&attr, &param);

    // 允许设置调度策略和参数
    pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);

    // 创建线程
    pthread_create(&thread_id, &attr, thread_function, NULL);
    pthread_setname_np(thread_id, "WorkerThread");

    // 等待线程结束
    pthread_join(thread_id, NULL);

    // 销毁线程属性对象
    pthread_attr_destroy(&attr);

    printf("Main thread is done.\n");
    return 0;
}

cd C:\Users\someone\Desktop\demo_project

make X_GCC_ROOT_PATH=C:\Users\someone\Desktop\xgcc\x86_64-sinsegye-linux-gnu