add HAL command "setexact_for_test_suite_only" which acts as though t…

…he exact

requested base period was obtained.

Additional printf-format warning fixes
VS: ----------------------------------------------------------------------

src/hal/hal_lib.c

@@ -1560,7 +1560,11 @@ int hal_create_thread(char *name, unsigned long period_nsec, int uses_fp)
 		"HAL_LIB: ERROR: clock period too long: %ld\n", curr_period);
 	    return HAL_FAIL;
 	}
-	hal_data->base_period = curr_period;
+	if(hal_data->exact_base_period) {
+		hal_data->base_period = period_nsec;
+	} else {
+		hal_data->base_period = curr_period;
+	}
 	/* reserve the highest priority (maybe for a watchdog?) */
 	prev_priority = rtapi_prio_highest();
     } else {
@@ -2478,6 +2482,7 @@ static int init_hal_data(void)
     hal_data->constructor_prefix[0] = 0;
     list_init_entry(&(hal_data->funct_entry_free));
     hal_data->thread_free_ptr = 0;
+    hal_data->exact_base_period = 0;
     /* set up for shmalloc_xx() */
     hal_data->shmem_bot = sizeof(hal_data_t);
     hal_data->shmem_top = HAL_SIZE;

src/hal/hal_priv.h

@@ -167,6 +167,8 @@ typedef struct {
     int funct_free_ptr;		/* list of free function structs */
     hal_list_t funct_entry_free;	/* list of free funct entry structs */
     int thread_free_ptr;	/* list of free thread structs */
+    int exact_base_period;      /* if set, pretend that rtapi satisfied our
+				   period request exactly */
     unsigned char lock;         /* hal locking, can be one of the HAL_LOCK_* types */
 } hal_data_t;
 
@@ -299,7 +301,7 @@ typedef struct {
 */
 
 #define HAL_KEY   0x48414C32	/* key used to open HAL shared memory */
-#define HAL_VER   0x00000005	/* version code */
+#define HAL_VER   0x00000006	/* version code */
 #define HAL_SIZE  131000
 
 /* These pointers are set by hal_init() to point to the shmem block

src/hal/utils/halcmd.c

@@ -134,6 +134,7 @@ static char *data_arrow2(int dir);
 static char *data_value(int type, void *valptr);
 static char *data_value2(int type, void *valptr);
 static int do_save_cmd(char *type, char *filename);
+static int do_setexact_cmd(void);
 static void save_comps(FILE *dst);
 static void save_signals(FILE *dst);
 static void save_links(FILE *dst, int arrows);
@@ -896,6 +897,8 @@ static int parse_cmd(char *tokens[])
 	    /* print success message */
 	    rtapi_print_msg(RTAPI_MSG_INFO, "Realtime threads stopped\n");
 	}
+    } else if (strcmp(tokens[0], "setexact_for_test_suite_only") == 0) {
+        retval = do_setexact_cmd();
     } else {
 	rtapi_print_msg(RTAPI_MSG_ERR, "HAL:%d: Unknown command '%s'\n", linenumber, tokens[0]);
 	retval = -1;
@@ -2248,16 +2251,16 @@ static void print_funct_info(char *pattern)
 	if ( match(pattern, fptr->name) ) {
 	    comp = SHMPTR(fptr->owner_ptr);
 	    if (scriptmode == 0) {
-		rtapi_print(" %02d   %08p %08p %s  %3d   %s\n",
+		rtapi_print(" %02d   %08lx %08lx %s  %3d   %s\n",
 		    comp->comp_id,
-		    fptr->funct,
-		    fptr->arg, (fptr->uses_fp ? "YES" : "NO "),
+		    (long)fptr->funct,
+		    (long)fptr->arg, (fptr->uses_fp ? "YES" : "NO "),
 		    fptr->users, fptr->name);
 	    } else {
-		rtapi_print("%s %08p %08p %s %3d %s\n",
+		rtapi_print("%s %08lx %08lx %s %3d %s\n",
 		    comp->name,
-		    fptr->funct,
-		    fptr->arg, (fptr->uses_fp ? "YES" : "NO "),
+		    (long)fptr->funct,
+		    (long)fptr->arg, (fptr->uses_fp ? "YES" : "NO "),
 		    fptr->users, fptr->name);
 	    } 
 	}
@@ -2918,6 +2921,25 @@ static void save_threads(FILE *dst)
     rtapi_mutex_give(&(hal_data->mutex));
 }
 
+static int do_setexact_cmd() {
+    int retval = HAL_SUCCESS;
+    rtapi_mutex_get(&(hal_data->mutex));
+    if(hal_data->base_period) {
+        rtapi_print_msg(RTAPI_MSG_ERR,
+            "HAL_LIB: ERROR: Cannot run 'setexact'"
+            " after a thread has been created\n");
+        retval = HAL_FAIL;
+    } else {
+        rtapi_print_msg(RTAPI_MSG_INFO,
+            "HAL_LIB: HAL will pretend that the exact"
+            " base period requested is possible.\n"
+            "This mode is not suitable for running real hardware.");
+        hal_data->exact_base_period = 1;
+    }
+    rtapi_mutex_give(&(hal_data->mutex));
+    return retval;
+}
+
 static int do_help_cmd(char *command)
 {