fosi.h File Reference

#include <stdio.h>
#include <semaphore.h>
#include <pthread.h>
#include <errno.h>
#include <string.h>
#include <limits.h>
#include <float.h>
#include <assert.h>
#include "../oro_limits.h"
#include <sys/time.h>
#include <time.h>
#include <unistd.h>

Include dependency graph for rtt/os/gnulinux/fosi.h:

Go to the source code of this file.

Classes
struct	RTOS_TASK
Defines
#define	HAVE_FOSI_API
#define	ORO_SCHED_OTHER   SCHED_OTHER
#define	ORO_SCHED_RT   SCHED_FIFO
#define	ORO_WAIT_ABS   0
#define	ORO_WAIT_REL   1
#define	rtos_printf   printf
Typedefs
typedef long long	NANO_TIME
typedef pthread_cond_t	rt_cond_t
typedef pthread_mutex_t	rt_mutex_t
typedef pthread_mutex_t	rt_rec_mutex_t
typedef sem_t	rt_sem_t
typedef long long	TICK_TIME
typedef struct timespec	TIME_SPEC
Functions
static long long	nano2ticks (long long nano)
static int	rtos_cond_broadcast (rt_cond_t *cond)
static int	rtos_cond_destroy (rt_cond_t *cond)
static int	rtos_cond_init (rt_cond_t *cond)
static int	rtos_cond_timedwait (rt_cond_t *cond, rt_mutex_t *mutex, NANO_TIME abs_time)
static int	rtos_cond_wait (rt_cond_t *cond, rt_mutex_t *mutex)
static void	rtos_disable_rt_warning ()
static void	rtos_enable_rt_warning ()
static NANO_TIME	rtos_get_time_ns (void)
static NANO_TIME	rtos_get_time_ticks ()
static int	rtos_mutex_destroy (rt_mutex_t *m)
static int	rtos_mutex_init (rt_mutex_t *m)
static int	rtos_mutex_lock (rt_mutex_t *m)
static int	rtos_mutex_lock_until (rt_mutex_t *m, NANO_TIME abs_time)
static int	rtos_mutex_rec_destroy (rt_mutex_t *m)
static int	rtos_mutex_rec_init (rt_mutex_t *m)
static int	rtos_mutex_rec_lock (rt_mutex_t *m)
static int	rtos_mutex_rec_lock_until (rt_mutex_t *m, NANO_TIME abs_time)
static int	rtos_mutex_rec_trylock (rt_mutex_t *m)
static int	rtos_mutex_rec_unlock (rt_mutex_t *m)
static int	rtos_mutex_trylock (rt_mutex_t *m)
static int	rtos_mutex_unlock (rt_mutex_t *m)
static int	rtos_nanosleep (const TIME_SPEC *rqtp, TIME_SPEC *rmtp)
static int	rtos_sem_destroy (rt_sem_t *m)
static int	rtos_sem_init (rt_sem_t *m, int value)
static int	rtos_sem_signal (rt_sem_t *m)
static int	rtos_sem_trywait (rt_sem_t *m)
static int	rtos_sem_value (rt_sem_t *m)
static int	rtos_sem_wait (rt_sem_t *m)
static int	rtos_sem_wait_timed (rt_sem_t *m, NANO_TIME delay)
static int	rtos_sem_wait_until (rt_sem_t *m, NANO_TIME abs_time)
static long long	ticks2nano (long long count)
static TIME_SPEC	ticks2timespec (TICK_TIME hrt)
Variables
static const NANO_TIME	InfiniteNSecs = LLONG_MAX
static const double	InfiniteSeconds = DBL_MAX
static const TICK_TIME	InfiniteTicks = LLONG_MAX

---

Define Documentation

#define HAVE_FOSI_API

This file translates the FOSI (Framework Operating System Interface) from orocos calls to native RTOS calls

TODO : split in multiple files

Definition at line 30 of file rtt/os/gnulinux/fosi.h.

#define ORO_SCHED_OTHER   SCHED_OTHER

Definition at line 86 of file rtt/os/gnulinux/fosi.h.

#define ORO_SCHED_RT   SCHED_FIFO

Definition at line 85 of file rtt/os/gnulinux/fosi.h.

#define ORO_WAIT_ABS   0

Definition at line 66 of file rtt/os/gnulinux/fosi.h.

#define ORO_WAIT_REL   1

Definition at line 68 of file rtt/os/gnulinux/fosi.h.

#define rtos_printf   printf

Definition at line 313 of file rtt/os/gnulinux/fosi.h.

---

Typedef Documentation

typedef long long NANO_TIME

Definition at line 57 of file rtt/os/gnulinux/fosi.h.

typedef pthread_cond_t rt_cond_t

Definition at line 285 of file rtt/os/gnulinux/fosi.h.

typedef pthread_mutex_t rt_mutex_t

Definition at line 209 of file rtt/os/gnulinux/fosi.h.

typedef pthread_mutex_t rt_rec_mutex_t

Definition at line 210 of file rtt/os/gnulinux/fosi.h.

typedef sem_t rt_sem_t

Definition at line 144 of file rtt/os/gnulinux/fosi.h.

typedef long long TICK_TIME

Definition at line 58 of file rtt/os/gnulinux/fosi.h.

typedef struct timespec TIME_SPEC

Definition at line 59 of file rtt/os/gnulinux/fosi.h.

---

Function Documentation

static long long nano2ticks

(

long long

nano

)

[inline, static]

No conversions are needed in userspace. The HBGenerator needs this for accurate timekeeping, which is an anachronism in userspace.

Definition at line 133 of file rtt/os/gnulinux/fosi.h.

static int rtos_cond_broadcast

(

rt_cond_t *

cond

)

[inline, static]

Definition at line 308 of file rtt/os/gnulinux/fosi.h.

static int rtos_cond_destroy

(

rt_cond_t *

cond

)

[inline, static]

Definition at line 292 of file rtt/os/gnulinux/fosi.h.

static int rtos_cond_init

(

rt_cond_t *

cond

)

[inline, static]

Definition at line 287 of file rtt/os/gnulinux/fosi.h.

static int rtos_cond_timedwait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex,
		NANO_TIME	abs_time
	)			[inline, static]

Definition at line 302 of file rtt/os/gnulinux/fosi.h.

static int rtos_cond_wait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex
	)			[inline, static]

Definition at line 297 of file rtt/os/gnulinux/fosi.h.

static void rtos_disable_rt_warning

(

)

[inline, static]

Definition at line 281 of file rtt/os/gnulinux/fosi.h.

static void rtos_enable_rt_warning

(

)

[inline, static]

Definition at line 277 of file rtt/os/gnulinux/fosi.h.

static NANO_TIME rtos_get_time_ns

(

void

)

[inline, static]

Definition at line 99 of file rtt/os/gnulinux/fosi.h.

static NANO_TIME rtos_get_time_ticks

(

void

)

[inline, static]

This function should return ticks, but we use ticks == nsecs in userspace

Definition at line 116 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_destroy

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 217 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_init

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 212 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_lock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 235 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_lock_until	(	rt_mutex_t *	m,
		NANO_TIME	abs_time
	)			[inline, static]

Definition at line 245 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_rec_destroy

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 230 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_rec_init

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 222 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_rec_lock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 240 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_rec_lock_until	(	rt_mutex_t *	m,
		NANO_TIME	abs_time
	)			[inline, static]

Definition at line 251 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_rec_trylock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 262 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_rec_unlock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 272 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_trylock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 257 of file rtt/os/gnulinux/fosi.h.

static int rtos_mutex_unlock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 267 of file rtt/os/gnulinux/fosi.h.

static int rtos_nanosleep	(	const TIME_SPEC *	rqtp,
		TIME_SPEC *	rmtp
	)			[inline, static]

Definition at line 121 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_destroy

(

rt_sem_t *

m

)

[inline, static]

Definition at line 151 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_init	(	rt_sem_t *	m,
		int	value
	)			[inline, static]

Definition at line 146 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_signal

(

rt_sem_t *

m

)

[inline, static]

Definition at line 156 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_trywait

(

rt_sem_t *

m

)

[inline, static]

Definition at line 166 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_value

(

rt_sem_t *

m

)

[inline, static]

Definition at line 199 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_wait

(

rt_sem_t *

m

)

[inline, static]

Definition at line 161 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_wait_timed	(	rt_sem_t *	m,
		NANO_TIME	delay
	)			[inline, static]

Todo:

should really deal with errno=EINTR due to signal, and errno=ETIMEDOUT appropriately.

Definition at line 171 of file rtt/os/gnulinux/fosi.h.

static int rtos_sem_wait_until	(	rt_sem_t *	m,
		NANO_TIME	abs_time
	)			[inline, static]

Definition at line 193 of file rtt/os/gnulinux/fosi.h.

static long long ticks2nano

(

long long

count

)

[inline, static]

Definition at line 139 of file rtt/os/gnulinux/fosi.h.

static TIME_SPEC ticks2timespec

(

TICK_TIME

hrt

)

[inline, static]

Definition at line 91 of file rtt/os/gnulinux/fosi.h.

---

Variable Documentation

const NANO_TIME InfiniteNSecs = LLONG_MAX [static]

Definition at line 63 of file rtt/os/gnulinux/fosi.h.

const double InfiniteSeconds = DBL_MAX [static]

Definition at line 64 of file rtt/os/gnulinux/fosi.h.

const TICK_TIME InfiniteTicks = LLONG_MAX [static]

Definition at line 62 of file rtt/os/gnulinux/fosi.h.