#include <pthread.h>
#include <rtai.h>
#include <rtai_sched.h>
#include <rtai_msg.h>
#include <rtai_mbx.h>
#include <rtai_netrpc.h>
#include <netinet/in.h>
#include <arpa/inet.h>

void *thread1( void* arg )
{
	void* result = NULL;
	RT_TASK *task1 = NULL;

	/* Create new realtime task */
	task1 = rt_task_init_schmod( nam2num("MYTHD1"),	/* ID */
								0,					/* Priority: 0 is highest.
														0x3fffffff is lowest */
								1024,				/* Stack size */
								1024,				/* Max message size */
								SCHED_FIFO,			/* Task scheduling policy */
								1					/* Processor affinity */
								);
	if( NULL == task1 )
	{
		printf("Failed to create task1\n");
		return( result );
	}

	/* Make this task realtime */
	rt_make_hard_real_time();

	/* do realtime job */
	{
		/* get address of main task */
		RT_TASK *mainTask = (RT_TASK*)rt_get_adr( nam2num("MAINTH") );
		unsigned char msg[] = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08 };
		/* send message to main task */
		if( NULL != mainTask )
		{
			rt_sendx( mainTask, msg, sizeof(msg) );
		}
	}

	/* Wait for main task to process sent message */
	/* If this task is deleted before main task process the message, */
	/* send message will be broken */
	sleep(1);
	/* Delete realtime task */
	rt_task_delete( task1 );

	/* Exit thread */
	return( result );
}

main()
{
	pthread_t th1;
	RT_TASK *mainTask = NULL;

	/* Enable non-root hrt */
	rt_allow_nonroot_hrt();

	/* Create realtime task */
	mainTask = rt_task_init_schmod( nam2num("MAINTH"),	/* ID */
								10,					/* Priority: 0 is highest.
														0x3fffffff is lowest */
								1024,				/* Stack size */
								1024,				/* Max message size */
								SCHED_FIFO,			/* Task scheduling policy */
								1					/* Processor affinity */
								);
	if( NULL == mainTask )
	{
		printf("Failed to create main task.\n");
		return( 0 );
	}

	/* Create user thread */
	pthread_create( &th1, NULL, thread1, NULL );
	
	{
		RT_TASK *sender = NULL;
		unsigned char msg[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
		long actualLength = 0;
		/* receive message */
		rt_receivex( sender, msg, sizeof(msg), &actualLength );
		{
			int i = 0;
			printf("Received message (%d): ", actualLength );
			for( i = 0 ; i < sizeof(msg) / sizeof(unsigned char) ; ++i )
			{
				printf("%02X ", msg[ i ] );
			}
			printf("\n");
		}
	}

	pthread_join( th1, NULL );

	/* Delete MAINTH */
	rt_task_delete( mainTask );
}