43、深入了解Xenomai实时系统

深入了解Xenomai实时系统

1. 核心代码分析

以下是一段关键代码，用于等待消息并处理超时和中断情况：

task = vrtx_current_task();
/*
 * Set up a few status bits the VRTX way, so that inquiries
 * about the task state will return proper information.
 */
task->vrtxtcb.TCBSTAT = TBSMBOX;
if (timeout)
    task->vrtxtcb.TCBSTAT |= TBSDELAY;
/* We have to wait for a message now. */
xnsynch_sleep_on(&mb->synchbase, timeout, XN_RELATIVE);
/* Are we waking up due to a Linux signal, or some unblocking call? */
if (xnthread_test_info(&task->threadbase, XNBREAK)) {
    *errp = -EINTR;
    goto unlock_and_exit;
}
/* Did we reach the timeout limit? */
if (xnthread_test_info(&task->threadbase, XNTIMEO)) {
    *errp = ER_TMO;
    goto unlock_and_exit;
}
done:
/*