added render script and output png

V2: loop (rust) + delay

.gitignore

@@ -31,3 +31,6 @@
 # Debug files
 *.dSYM/
 *.su
+
+# Rust
+target/

.gitlab-ci.yml

@@ -0,0 +1,26 @@
+image: scorpil/rust:stable
+
+stages:
+  - test
+
+cargo:test:
+  stage: test
+  script:
+    - ci/run-cargo-test.sh
+
+rustfmt:
+  stage: test
+  script:
+    - ci/run-rustfmt.sh
+
+shellcheck:
+  stage: test
+  image: ubuntu:yakkety
+  before_script:
+    - apt-get update && apt-get install -y shellcheck
+    - locale-gen en_US.UTF-8
+    - export LANG=en_US.UTF-8
+    - export LANGUAGE=en_US:en
+    - export LC_ALL=en_US.UTF-8
+  script:
+    - ci/run-shellcheck.sh

README.md

@@ -1,2 +1,2 @@
-# resy-ss17-grp1
+# resy-ss17-template
 Template for grp repositories

V1/led.sh

@@ -0,0 +1,51 @@
+#!/usr/bin/env bash
+# usage: led.sh <port>
+set -o xtrace
+
+# config default
+GPIO_PORT="${1:-18}"
+
+function export_port() {
+  port="${1}"
+  echo "${port}" > /sys/class/gpio/export
+}
+function unexport_port() {
+  port="${1}"
+  echo "${port}" > /sys/class/gpio/unexport
+}
+
+function set_direction() {
+  port="${1}"
+  value="${2}"
+  echo "${value}" > "/sys/class/gpio/gpio${port}/direction"
+}
+
+function set_value() {
+  port="${1}"
+  value="${2}"
+  echo "${value}" > "/sys/class/gpio/gpio${port}/value"
+}
+
+function on() {
+  port="${1}"
+  set_value "${port}" "0"
+}
+function off() {
+  port="${1}"
+  set_value "${port}" "1"
+}
+
+# set exit trap
+trap 'unexport_port "${GPIO_PORT}"' EXIT
+
+# init GPIO port
+export_port "${GPIO_PORT}"
+set_direction "${GPIO_PORT}" "out"
+
+# loop led on/off
+while true; do
+  on "${GPIO_PORT}"
+  sleep 1
+  off "${GPIO_PORT}"
+  sleep 1
+done

V1/led5/Cargo.lock

@@ -0,0 +1,66 @@
+[root]
+name = "led5"
+version = "0.1.0"
+dependencies = [
+ "chan 0.1.19 (registry+https://github.com/rust-lang/crates.io-index)",
+ "chan-signal 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "bit-set"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "bit-vec 0.4.3 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "bit-vec"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "chan"
+version = "0.1.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand 0.3.15 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "chan-signal"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "bit-set 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "chan 0.1.19 (registry+https://github.com/rust-lang/crates.io-index)",
+ "lazy_static 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "lazy_static"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "libc"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "rand"
+version = "0.3.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[metadata]
+"checksum bit-set 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d9bf6104718e80d7b26a68fdbacff3481cfc05df670821affc7e9cbc1884400c"
+"checksum bit-vec 0.4.3 (registry+https://github.com/rust-lang/crates.io-index)" = "5b97c2c8e8bbb4251754f559df8af22fb264853c7d009084a576cdf12565089d"
+"checksum chan 0.1.19 (registry+https://github.com/rust-lang/crates.io-index)" = "f93bfe971116428a9066c1c3c69a09ae3ef69432f8418be28ab50f96783e6a50"
+"checksum chan-signal 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0f3bb6c3bc387004ad914f0c5b7f33ace8bf7604bbec35f228b1a017f52cd3a0"
+"checksum lazy_static 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "4732c563b9a21a406565c4747daa7b46742f082911ae4753f390dc9ec7ee1a97"
+"checksum libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)" = "88ee81885f9f04bff991e306fea7c1c60a5f0f9e409e99f6b40e3311a3363135"
+"checksum rand 0.3.15 (registry+https://github.com/rust-lang/crates.io-index)" = "022e0636ec2519ddae48154b028864bdce4eaf7d35226ab8e65c611be97b189d"

V1/led5/Cargo.toml

@@ -0,0 +1,8 @@
+[package]
+name = "led5"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[dependencies]
+chan = ">=0.1.19"
+chan-signal = ">=0.2.0"

V1/led5/src/main.rs

@@ -0,0 +1,150 @@
+#[macro_use]
+extern crate chan;
+extern crate chan_signal;
+
+use std::io::prelude::*;
+use std::fs::File;
+use std::thread;
+use std::thread::JoinHandle;
+use std::path::Path;
+use std::time::Duration;
+
+use chan_signal::Signal;
+
+static GPIO_PORT_BTN: &'static str = "17";
+static GPIO_PORT_LED: &'static str = "18";
+
+static GPIO_DIRECTION_IN: &'static str = "in";
+static GPIO_DIRECTION_OUT: &'static str = "out";
+
+static GPIO_BTN_ON: &'static str = "0";
+//static GPIO_BTN_OFF: &'static str = "1";
+
+static GPIO_LED_ON: &'static str = "0";
+static GPIO_LED_OFF: &'static str = "1";
+
+fn write(path: &str, value: &str) {
+    let mut file = File::create(Path::new(path))
+        .expect(format!("Open file '{}' failed", path).as_str());
+
+    file.write_all(value.as_bytes())
+        .expect(format!("Write value '{}' to '{}' file failed", value, path).as_str());
+
+    #[cfg(debug_assertions)]
+    println!("Wrote value '{}' to '{}'.", value, path);
+}
+fn read(path: &str) -> String {
+    let mut file = File::open(Path::new(path))
+        .expect(format!("Open file '{}' failed", path).as_str());
+    let mut contents = String::new();
+
+    file.read_to_string(&mut contents)
+        .expect(format!("Read from '{}' file failed", path).as_str());
+
+    #[cfg(debug_assertions)]
+    println!("Read value '{}' from '{}'.", contents, path);
+
+    contents
+}
+
+fn export(port: &str) {
+    write("/sys/class/gpio/export", port)
+}
+fn unexport(port: &str) {
+    write("/sys/class/gpio/unexport", port)
+}
+
+fn set_direction(port: &str, direction: &str) {
+    write(format!("/sys/class/gpio/gpio{}/direction", port).as_str(), direction);
+}
+
+fn set_value(port: &str, value: &str) {
+    write(format!("/sys/class/gpio/gpio{}/value", port).as_str(), value);
+}
+fn get_value(port: &str) -> String {
+    String::from(read(format!("/sys/class/gpio/gpio{}/value", port).as_str()).trim())
+}
+
+fn main() {
+    let signal = chan_signal::notify(&[Signal::INT, Signal::TERM]);
+    let (sdone, rdone) = chan::sync(0);
+    let (spanic, rpanic) = chan::sync(0);
+    let worker = thread::Builder::new()
+        .name("worker".to_string())
+        .spawn(move || run(rdone))
+        .expect("Create worker thread failed");
+    let watchdog = thread::Builder::new()
+        .name("watchdog".to_string())
+        .spawn(move || watchdog(worker, spanic))
+        .expect("Create watchdog thread failed");
+
+    chan_select! {
+        rpanic.recv() => { },
+        signal.recv() -> signal => {
+            println!("received signal: {:?}", signal);
+            sdone.send(());
+        }
+    }
+
+    watchdog.join().expect("Watchdog thread paniced");
+}
+
+fn watchdog(thread: JoinHandle<()>, _spanic: chan::Sender<()>) {
+    thread.join().expect("Thread paniced");
+}
+
+fn run(rdone: chan::Receiver<()>) {
+    // init
+    export(GPIO_PORT_BTN);
+    export(GPIO_PORT_LED);
+    set_direction(GPIO_PORT_BTN, GPIO_DIRECTION_IN);
+    set_direction(GPIO_PORT_LED, GPIO_DIRECTION_OUT);
+
+    let btn_tick = chan::tick(Duration::from_millis(50));
+    let led_tick = chan::tick(Duration::from_millis(1000 / 5));
+    let mut btn_last = false;
+    let mut led_on = false;
+    let mut enabled = true;
+
+    loop {
+        chan_select! {
+            btn_tick.recv() => {
+                //#[cfg(debug_assertions)]
+                //println!("btn_tick");
+
+                // switch enabled if button state changed
+                let btn = get_value(GPIO_PORT_BTN) == GPIO_BTN_ON;
+                if btn && btn != btn_last {
+                    enabled = !enabled;
+                }
+
+                btn_last = btn;
+            },
+            led_tick.recv() => {
+                #[cfg(debug_assertions)]
+                println!("led_tick");
+
+                // blink led if enabled
+                if enabled {
+                    led_on = !led_on;
+                } else {
+                    led_on = false;
+                }
+
+                // set led state
+                if led_on {
+                    set_value(GPIO_PORT_LED, GPIO_LED_ON);
+                }
+                else {
+                    set_value(GPIO_PORT_LED, GPIO_LED_OFF);
+                }
+            },
+            rdone.recv() => {
+                // unexport
+                unexport(GPIO_PORT_BTN);
+                unexport(GPIO_PORT_LED);
+                return;
+            },
+        }
+    }
+}

V1/switch.c

@@ -1,120 +1,102 @@
-/*
- * switch.c
- * How to register an button and count this
- * author: Simon Wörner, Manuel Vögele,
- * 	   Siegfried Kienzle
- * 24-March-2017
- *  
- *  */
-
-#define BUTTON "17"
-#define IN "in\n"
-#define OUT "out\n"
-#define HIGH "1\n"
-#define LOW "0\n"
-#define MAXBYTES 1
-
 #include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
 #include <fcntl.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
 
-int writeIntoFile(char* value, char* path)
+#define BASEPATH "/sys/class/gpio/"
+#define GPIO_FOLDER "gpio%s/"
+
+#define PIN_BUTTON "17"
+#define PIN_LED "18"
+
+#define LED_ON 0
+#define LED_OFF 1
+
+#define BUTTON_PRESSED 0
+#define BUTTON_RELEASED 1
+
+void writeFile(char *filename, char *buffer, size_t count)
 {
-	int fd;
+    int fd = open(filename, O_WRONLY);
-	char buffer[3];
+    write(fd, buffer, count);
-	strcpy(buffer, value);
-	if((fd=open(path, O_RDWR | O_CREAT | O_TRUNC)) == -1) {
-		perror(NULL);
-		return EXIT_FAILURE;
-	}
-
-	if((write(fd, &buffer, sizeof(buffer))) == -1) {
-		perror("Cannot write into file");
-		return EXIT_FAILURE;			
-	} 	
-	printf("Success");
     close(fd);
-	return EXIT_SUCCESS;	
 }
 
-int reserve(char* gpioPort)
+void registerPin(char *pin)
 {
-	char str[3];
+    writeFile(BASEPATH "export", pin, strlen(pin));
-	strcpy(str, gpioPort);
-	strcat(str, "\n");
-	return writeIntoFile(str,"/sys/class/gpio/export");
 }
 
-int setDirection(char* gpioPort, char* inOut)
+void freePin(char *pin)
 {
-	char *direc = "/direction";
+    writeFile(BASEPATH "unexport", pin, strlen(pin));
-	char *gpioPath = "/sys/class/gpio/gpio";	
-	char path[32];
-	strcpy(path, gpioPath);
-    strcat(path, gpioPort);
-	strcat(path, direc);
-	return writeIntoFile(inOut, path);
 }
 
-int setOutput(char* gpioPort, char* volt)
+void setDirection(char *pin, char *direction, int dirlen)
 {
-	char *val = "/value";
+    char path[50];
-	char *gpioPath = "/sys/class/gpio/gpio";
+    sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
-	char path[28];
+    writeFile(path, direction, dirlen);
-	strcpy(path, gpioPath);
-	strcat(path, gpioPort);
-	strcat(path, val);
-	return writeIntoFile(volt, path);
 }
 
-int mainLoop(char* gpioPort)
+void registerInput(char *pin)
 {
-	int fid, portValue, count, countButton;
+    registerPin(pin);
-	char *val = "/value";
+    setDirection(pin, "in", 2);
-	char *gpioPath = "/sys/class/gpio/gpio";
-	char path[28];
-	strcpy(path, gpioPath);
-	strcat(path, gpioPort);
-	strcat(path, val);
-	
-	while(true)
-	{
-		if( (fid=open(path, O_RDONLY)) == -1)
-			perror("Fehler ");
-		if(readInput(fid) == 1)
-		{
-			countButton++;
-			printf("%d", countButton);
-		}
-		
-	
-		close(fid);
-	}
 }
 
-char[] readInput(int fid)
+void registerOutput(char *pin)
 {
-	char buffer[MAXBYTES];
+    registerPin(pin);
-	read(fid, &buffer, MAXBYTES);
+    setDirection(pin, "out", 3);
-	return buffer;
 }
 
-int unexport(char* gpioport)
+int readInput(char *pin)
 {
-	char str[3];
+    char path[50];
-	strcpy(str, gpioPort);
+    int state;
-	strcat(str, "\n");
+    sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
-	return writeIntoFile(str,"/sys/class/gpio/unexport");
+    FILE *fd = fopen(path, "r");
+    fscanf(fd, "%i", &state);
+    fclose(fd);
+    return state;
 }
 
+void writeOutput(char *pin, int state)
+{
+    char path[50];
+    sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
+    FILE *fd = fopen(path, "w");
+    fprintf(fd, "%i", state);
+    fclose(fd);
+}
 
 int main()
 {
-	reserve(BUTTON);
+    struct timespec sleeptime, sleepremain;
-	setDirection(BUTTON, IN);
+    int oldstate = BUTTON_PRESSED;
-	mainLoop(BUTTON);
+    int state;
-	unexport(BUTTON);
+    int count = 0;
-	return 0;
+    registerInput(PIN_BUTTON);
+    registerOutput(PIN_LED);
+    sleeptime.tv_sec = 0;
+    sleeptime.tv_nsec = 1000000;
+    while (1)
+    {
+        nanosleep(&sleeptime, &sleepremain);
+        state = readInput(PIN_BUTTON);
+        if (state == BUTTON_PRESSED && oldstate == BUTTON_RELEASED)
+        {
+            count++;
+            printf("Number of button pushes: %i\n", count);
+        }
+
+        if (state == BUTTON_PRESSED)
+            writeOutput(PIN_LED, LED_ON);
+        else
+            writeOutput(PIN_LED, LED_OFF);
+
+        oldstate = state;
+    }
 }

V2/delay/.gitignore

@@ -0,0 +1 @@
+*.eps

V2/delay/delay_idle.txt

@@ -0,0 +1,100 @@
+  1000000 74885
+  2000000 70188
+  3000000 100960
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V2/delay/delay_idle_rt.txt

@@ -0,0 +1,100 @@
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V2/delay/delay_load.txt

@@ -0,0 +1,100 @@
+  1000000 10251030
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V2/delay/delay_load_rt.txt

@@ -0,0 +1,100 @@
+  1000000 22281
+  2000000 15345
+  3000000 14709
+  4000000 13867
+  5000000 14377
+  6000000 28221
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+ 95000000 45511
+ 96000000 34095
+ 97000000 49033
+ 98000000 53501
+ 99000000 36409
+100000000 37909

V2/delay/render.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -o xtrace
+
+SCRIPT_DIR=$(cd "$(dirname "$0")" && pwd)
+
+cd "${SCRIPT_DIR}" && gnuplot -c sleep_delay.gp
+
+while IFS= read -r -d '' f; do
+  output=$(echo "$f" | sed -E 's/\.eps$/.png/')
+  convert -density 300 "eps2:${f}" "$output"
+done < <(find "${SCRIPT_DIR}" -name '*.eps' -print0)

V2/delay/sleep_delay.gp

@@ -0,0 +1,20 @@
+set title "{/=20 nanosleep delays}"
+set terminal postscript eps enhanced
+set xlabel "{/=20Period to sleep [nanoseconds]}"
+set ylabel "{/=20Measured delay [nanoseconds]}"
+set grid
+set autoscale
+set style data lines
+show style data
+
+set output 'delay_idle.eps'
+plot 'delay_idle.txt' using ($1):($2) title "{/=17 Load: no, RT: no}" lw 6
+
+set output 'delay_load.eps'
+plot 'delay_load.txt' using ($1):($2) title "{/=17 Load: yes, RT: no}" lw 6
+
+set output 'delay_idle_rt.eps'
+plot 'delay_idle_rt.txt' using ($1):($2) title "{/=17 Load: no, RT: yes}" lw 6
+
+set output 'delay_load_rt.eps'
+plot 'delay_load_rt.txt' using ($1):($2) title "{/=17 Load: yes, RT: yes}" lw 6

V2/sleep/Cargo.lock

@@ -0,0 +1,62 @@
+[root]
+name = "sleep"
+version = "0.1.0"
+dependencies = [
+ "argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "argparse"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "kernel32-sys"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "redox_syscall"
+version = "0.1.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "time"
+version = "0.1.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "winapi"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "winapi-build"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[metadata]
+"checksum argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "37bb99f5e39ee8b23b6e227f5b8f024207e8616f44aa4b8c76ecd828011667ef"
+"checksum kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "7507624b29483431c0ba2d82aece8ca6cdba9382bff4ddd0f7490560c056098d"
+"checksum libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)" = "88ee81885f9f04bff991e306fea7c1c60a5f0f9e409e99f6b40e3311a3363135"
+"checksum redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)" = "29dbdfd4b9df8ab31dec47c6087b7b13cbf4a776f335e4de8efba8288dda075b"
+"checksum time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)" = "211b63c112206356ef1ff9b19355f43740fc3f85960c598a93d3a3d3ba7beade"
+"checksum winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
+"checksum winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"

V2/sleep/Cargo.toml

@@ -0,0 +1,9 @@
+[package]
+name = "sleep"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[dependencies]
+argparse = ">=0.2.1"
+libc = ">=0.2"
+time = ">=0.1.36"

V2/sleep/src/lib.rs

@@ -0,0 +1,80 @@
+extern crate libc;
+
+use std::time::Duration;
+
+#[cfg(target_os = "linux")]
+fn clock_nanosleep(clk_id: libc::clockid_t,
+                   flags: libc::c_int,
+                   rqtp: *const libc::timespec,
+                   rmtp: *mut libc::timespec)
+                   -> libc::c_int {
+    unsafe { libc::clock_nanosleep(clk_id, flags, rqtp as *const _, rmtp as *mut _) }
+}
+
+#[cfg(target_os = "macos")]
+fn nanosleep(rqtp: *const libc::timespec, rmtp: *mut libc::timespec) -> libc::c_int {
+    unsafe { libc::nanosleep(rqtp as *const _, rmtp as *mut _) }
+}
+
+/// Sleeps for the given duration.
+///
+/// Uses `clock_nanosleep` on linux and `nanosleep` on darwin.
+pub fn sleep(duration: Duration) -> Result<Duration, libc::c_int> {
+    let ts = duration_to_timespec(duration);
+    let mut remain = libc::timespec {
+        tv_sec: 0,
+        tv_nsec: 0,
+    };
+
+    #[cfg(target_os = "linux")]
+    let ret = clock_nanosleep(libc::CLOCK_MONOTONIC, 0, &ts, &mut remain);
+
+    #[cfg(target_os = "macos")]
+    let ret = nanosleep(&ts, &mut remain);
+
+    if ret == 0 {
+        Ok(timespec_to_duration(remain))
+    } else {
+        Err(ret)
+    }
+}
+
+fn duration_to_timespec(duration: Duration) -> libc::timespec {
+    libc::timespec {
+        tv_sec: duration.as_secs() as libc::time_t,
+        tv_nsec: duration.subsec_nanos() as libc::c_long,
+    }
+}
+
+fn timespec_to_duration(timespec: libc::timespec) -> Duration {
+    Duration::new(timespec.tv_sec as u64, timespec.tv_nsec as u32)
+}
+
+/// Set scheduler policy and priority for process with given pid.
+///
+/// If `pid` equals zero, the policy of the calling process will be set.
+///
+/// # Examples
+///
+/// ```rust
+/// // set *round-robin* policy (default) and priority 99 (realtime) for own process
+/// set_scheduler(0, libc::SCHED_RR, 99);
+/// ```
+#[cfg(target_os = "linux")]
+pub fn set_scheduler(pid: libc::pid_t, policy: libc::c_int, priority: libc::c_int) -> libc::c_int {
+    let param = libc::sched_param { sched_priority: priority };
+    unsafe { libc::sched_setscheduler(pid, policy, &param) }
+}
+
+/// Set scheduler *round-robin* policy (default) and priority for own process.
+///
+/// # Examples
+///
+/// ```rust
+/// // set *round-robin* policy (default) and priority 99 (realtime)
+/// set_priority(99);
+/// ```
+#[cfg(target_os = "linux")]
+pub fn set_priority(priority: i32) -> libc::c_int {
+    set_scheduler(0, libc::SCHED_RR, priority)
+}

V2/sleep/src/main.rs

@@ -0,0 +1,152 @@
+#![feature(step_by)]
+extern crate argparse;
+extern crate sleep;
+extern crate time;
+
+use std::io::prelude::*;
+use std::fs::File;
+use std::path::Path;
+use std::time::Duration;
+
+use argparse::{ArgumentParser, Print, Store};
+use sleep::sleep;
+use time::precise_time_ns;
+
+#[cfg(target_os = "linux")]
+use argparse::StoreTrue;
+
+#[cfg(target_os = "linux")]
+use sleep::set_priority;
+
+fn duration_from_ns(duration_ns: u64) -> Duration {
+    Duration::new(duration_ns / 1_000_000_000,
+                  (duration_ns % 1_000_000_000) as u32)
+}
+fn duration_to_ns(duration: Duration) -> u64 {
+    duration.as_secs() * 1_000_000_000u64 + duration.subsec_nanos() as u64
+}
+
+fn measure_duration(sleep_duration: Duration) -> Duration {
+    let start = precise_time_ns();
+    let _remain = sleep(sleep_duration);
+    let end = precise_time_ns();
+
+    #[cfg(debug_assertions)]
+    println!("remain = {:?}", _remain);
+
+    let duration = end - start;
+    let duration = duration_from_ns(duration);
+
+    #[cfg(debug_assertions)]
+    println!("duration = {:?}", duration);
+
+    duration
+}
+
+fn measure_delay(sleep_duration: Duration) -> (Duration, Duration) {
+    let duration = measure_duration(sleep_duration);
+    let delay = duration - sleep_duration;
+
+    #[cfg(debug_assertions)]
+    println!("delay = {:?}", delay);
+
+    (duration, delay)
+}
+
+fn measure_delay_loop(sleep_duration: Duration, count: u64) -> Vec<(Duration, Duration)> {
+    println!("Starting measurment with period {}s {}ns for {} loops",
+             sleep_duration.as_secs(),
+             sleep_duration.subsec_nanos(),
+             count);
+    let mut data: Vec<(Duration, Duration)> = Vec::with_capacity(count as usize);
+
+    for _ in 0..count {
+        let (duration, delay) = measure_delay(sleep_duration);
+        data.push((duration, delay));
+
+        #[cfg(debug_assertions)]
+        print_delay(duration, delay);
+    }
+
+    data
+}
+
+fn print_delay(duration: Duration, delay: Duration) {
+    println!("value: {} s {} ns\tdelay: {} s {} ns\trelativ delay = {:.2}%\traw_data: {:?}",
+             duration.as_secs(),
+             duration.subsec_nanos(),
+             delay.as_secs(),
+             delay.subsec_nanos(),
+             (duration_to_ns(delay) * 100) as f64 / duration_to_ns(duration) as f64,
+             delay);
+}
+
+fn main() {
+    let mut min: u64 = 1_000_000;
+    let mut max: u64 = 100_000_000;
+    let mut step: u64 = 1_000_000;
+    let mut count: u64 = 100;
+    let mut output: String = "".to_string();
+    let mut file: Option<File> = None;
+
+    #[cfg(target_os = "linux")]
+    let mut realtime: bool = false;
+
+    #[cfg(target_os = "macos")]
+    let realtime: bool = false;
+
+    {
+        let mut ap = ArgumentParser::new();
+        ap.set_description(env!("CARGO_PKG_DESCRIPTION"));
+        ap.refer(&mut min).add_option(&["--min"], Store, "Sleep period start");
+        ap.refer(&mut max).add_option(&["--max"], Store, "Sleep period end");
+        ap.refer(&mut step).add_option(&["--step"], Store, "Sleep period step size");
+        ap.refer(&mut count).add_option(&["--loop"], Store, "Count of measurements per period");
+        #[cfg(target_os = "linux")]
+        ap.refer(&mut realtime).add_option(&["--rt"], StoreTrue, "Set realtime priority");
+        ap.refer(&mut output).add_option(&["-o", "--out"], Store, "Output file");
+        ap.add_option(&["-V", "--version"],
+                      Print(env!("CARGO_PKG_VERSION").to_string()),
+                      "Show version");
+        ap.parse_args_or_exit();
+    }
+
+    if realtime {
+        #[cfg(target_os = "linux")]
+        let ret = set_priority(99);
+
+        #[cfg(target_os = "macos")]
+        let ret = 0;
+
+        if ret != 0 {
+            panic!("Set realtime priority failed.");
+        }
+    }
+
+    if output != "" {
+        file = Some(File::create(Path::new(output.as_str())).expect(format!("Open file '{}' failed",
+                                                                            output)
+                                                                            .as_str()));
+    }
+
+    for duration in (min..max + 1).step_by(step) {
+        let data = measure_delay_loop(duration_from_ns(duration), count);
+        let max_delay = data.iter().max().expect("Max delay not found");
+
+        #[cfg(debug_assertions)]
+        println!("max_delay = {:?}", max_delay);
+
+        print_delay(max_delay.0, max_delay.1);
+
+        match file.as_ref() {
+            Some(mut f) => {
+                let value = format!("{: >9} {}\n", duration, duration_to_ns(max_delay.1));
+                f.write_all(value.as_bytes()).expect(format!("Write value '{}' to '{}' file failed",
+                                                             value,
+                                                             output)
+                                                             .as_str());
+            }
+            None => {}
+        }
+    }
+}

ci/run-cargo-test.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+ERROR=0
+
+while IFS= read -r -d '' f; do
+  echo "run 'cargo test' with ${f}"
+  cargo test --manifest-path="${f}"
+
+  if [[ $? -ne 0 ]]; then
+    ERROR=1
+  fi
+done < <(find . -type f -name 'Cargo.toml' -print0)
+
+exit ${ERROR}

ci/run-rustfmt.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+ERROR=0
+
+while IFS= read -r -d '' f; do
+  echo "${f}"
+
+  if  [ "$(rustfmt --write-mode=diff "$f")" != $'' ]  ; then
+      ERROR=1
+  fi
+done < <(find . -type f -name '*.rs' -print0)
+
+exit ${ERROR}

ci/run-shellcheck.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+find . -type f -name '*.sh' -print0 | xargs -n 1 -0 shellcheck --color