#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;
	int counter = 0;

	/* 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();

	start_rt_timer( 0 );
	/* Make this task periodic */
	rt_task_make_periodic_relative_ns(
		task1, /* This task */
		0, /* start delay in nanoseconds */
		1e+6 /* period in nanoseconds */
	);

	/* do realtime job */
	while( counter < 10 * 1000 )
	{
		rt_task_wait_period();
		++counter;
		if( !(counter % 1000) )
		{
			/* This is for demonstration. */
			/* You SHOULD NOT call non-realtime function in any realtime task. */
			printf("Counter = %d\n", counter );
		}
	}
	
	stop_rt_timer();

	/* 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 );

	pthread_join( th1, NULL );

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