#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <signal.h>
#include <time.h>
#include <pthread.h>

void *Task( void * )
{
    float prec, prec_max=0.;
    long long work_tm, cur_tm;
    int per = 100000000;	//s
    struct timespec get_tm;
    
    //Calc next work time and sleep
    clock_gettime(CLOCK_REALTIME,&get_tm);
    work_tm = (long long)get_tm.tv_sec*1000000000+get_tm.tv_nsec;    
    
    for(int i=0; true/*i < 1000*/; i++)
    {
	char buf[100], name[31];
        float val;
	FILE *fp = popen("mbmon -r -c 1","r");
        if( fp == NULL ) return NULL;
		       
        while(fgets(buf,sizeof(buf),fp))
        {
	    if( sscanf(buf, "%31s : %f", name, &val) != 2 ) continue;
	    printf("%s : %f\n",name,val);
	}
	pclose(fp);    
    
	work_tm=work_tm+per;
	get_tm.tv_sec = work_tm/1000000000; get_tm.tv_nsec = work_tm%1000000000;
	clock_nanosleep(CLOCK_REALTIME,TIMER_ABSTIME,&get_tm,NULL);
	clock_gettime(CLOCK_REALTIME,&get_tm);
	cur_tm = (long long)get_tm.tv_sec*1000000000+get_tm.tv_nsec;	
	prec = (float)(cur_tm-work_tm)/1000000.;
	if(prec>prec_max) prec_max=prec;
	printf("Precission %f ms; max %f\n",prec,prec_max);
    }    
}

int main( int argc, char **argv )
{    
    pthread_t pthrid;
    pthread_attr_t pthr_attr;
    pthread_attr_init(&pthr_attr);
    struct sched_param prior;
    pthread_attr_setschedpolicy(&pthr_attr,SCHED_RR);
    //pthread_attr_setschedpolicy(&pthr_attr,SCHED_OTHER);
    prior.__sched_priority=10;
    pthread_attr_setschedparam(&pthr_attr,&prior);
    pthread_create(&pthrid,&pthr_attr,Task,NULL);
    pthread_attr_destroy(&pthr_attr);
    
    while(true) sleep(100);

    return 0;
}