PeriodicThreadImplQNX.cpp
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00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 
00003 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00004 // This file is part of FZIs ic_workspace.
00005 //
00006 // This program is free software licensed under the LGPL
00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00008 // You can find a copy of this license in LICENSE folder in the top
00009 // directory of the source code.
00010 //
00011 // © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00012 //
00013 // -- END LICENSE BLOCK ------------------------------------------------
00014 
00015 //----------------------------------------------------------------------
00021 //----------------------------------------------------------------------
00022 #include "PeriodicThreadImplQNX.h"
00023 
00024 #include <sys/siginfo.h>
00025 #include <sys/neutrino.h>
00026 
00027 #include "Logging.h"
00028 
00029 namespace icl_core {
00030 namespace thread {
00031 
00032 PeriodicThreadImplQNX::PeriodicThreadImplQNX(const icl_core::TimeSpan& period)
00033   : m_period(period),
00034     m_made_periodic(false),
00035     m_chid(-1)
00036 {
00037   m_chid = ChannelCreate(0);
00038   if (m_chid == -1)
00039   {
00040     LOGGING_ERROR_C(Thread, PeriodicThreadImplQNX,
00041                     "Could not create timer channel." << endl);
00042   }
00043 }
00044 
00045 PeriodicThreadImplQNX::~PeriodicThreadImplQNX()
00046 {
00047   ChannelDestroy(m_chid);
00048 }
00049 
00050 void PeriodicThreadImplQNX::makePeriodic()
00051 {
00052   if (m_chid == -1)
00053   {
00054     LOGGING_ERROR_C(Thread, PeriodicThreadImplQNX,
00055                     "No timer channel available! Cannot make this thread periodic!" << endl);
00056     return;
00057   }
00058 
00059   struct sigevent event;
00060   int coid;
00061 
00062   coid = ConnectAttach(0, 0, m_chid, 0, 0);
00063   if (coid == -1)
00064   {
00065     LOGGING_ERROR_C(Thread, PeriodicThreadImplQNX,
00066                     "Could not attach to the timer channel! Cannot make this thread periodic!" << endl);
00067     return;
00068   }
00069 
00070   SIGEV_PULSE_INIT(&event, coid, SIGEV_PULSE_PRIO_INHERIT, ePT_PULSE_TIMER, 0);
00071 
00072   int res = timer_create(CLOCK_REALTIME, &event, &m_timerid);
00073   if (res == -1)
00074   {
00075     LOGGING_ERROR_C(Thread, PeriodicThreadImplQNX,
00076                     "Could not create timer! Cannot make this thread periodic!" << endl);
00077     return;
00078   }
00079 
00080   m_made_periodic = true;
00081 
00082   setPeriod(m_period);
00083 }
00084 
00085 bool PeriodicThreadImplQNX::setPeriod(const icl_core::TimeSpan& period)
00086 {
00087   m_period = period;
00088 
00089   if (m_made_periodic)
00090   {
00091     struct itimerspec timer;
00092     timer.it_value = m_period.timespec();
00093     timer.it_interval = m_period.timespec();
00094     timer_settime(m_timerid, 0, &timer, NULL);
00095   }
00096 
00097   return true;
00098 }
00099 
00100 void PeriodicThreadImplQNX::waitPeriod()
00101 {
00102   int rcvid;
00103   struct _pulse msg;
00104 
00105   // TODO: Catch missed periods!
00106   rcvid = MsgReceivePulse(m_chid, &msg, sizeof(msg), NULL);
00107 
00108   return;
00109 }
00110 
00111 }
00112 }


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:19