os_posix_time.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 //----------------------------------------------------------------------
00022 //----------------------------------------------------------------------
00023 #include "icl_core/os_posix_time.h"
00024 
00025 #include <unistd.h>
00026 
00027 #include "icl_core/os_lxrt.h"
00028 
00029 #ifdef _SYSTEM_LXRT_
00030 # include <stdlib.h>
00031 # include <rtai_lxrt.h>
00032 # include <rtai_posix.h>
00033 # if defined(_SYSTEM_LXRT_33_) || defined(_SYSTEM_LXRT_35_)
00034 #  include <mca_lxrt_extension.h>
00035 # endif
00036 #endif
00037 
00038 namespace icl_core {
00039 namespace os {
00040 namespace hidden_posix {
00041 
00042 void gettimeofday(struct timespec *time)
00043 {
00044 #ifdef _SYSTEM_LXRT_
00045   if (isThisLxrtTask())
00046   {
00047 # if defined(_SYSTEM_LXRT_33_) || defined(_SYSTEM_LXRT_35_)
00048     struct timeval tv;
00049     mcalxrt_do_gettimeofday(&tv);
00050     time->tv_sec = tv.tv_sec;
00051     time->tv_nsec = tv.tv_usec * 1000;
00052 # else
00053     RTIME real_time = rt_get_real_time_ns();
00054     nanos2timespec(real_time, time);
00055 # endif
00056   }
00057   else
00058 #endif
00059   {
00060     struct timeval tv;
00061     gettimeofday(&tv, 0);
00062     time->tv_sec = tv.tv_sec;
00063     time->tv_nsec = tv.tv_usec * 1000;
00064   }
00065 }
00066 
00067 int nanosleep(const struct timespec *rqtp, struct timespec *rmtp)
00068 {
00069 #ifdef _SYSTEM_LXRT_
00070   if (isThisLxrtTask())
00071   {
00072     rt_sleep(nano2count(RTIME(1000000*rqtp->tv_sec + rqtp->tv_nsec)));
00073     if (rmtp != NULL)
00074     {
00075       // TODO: Do this right!
00076       rmtp->tv_sec = 0;
00077       rmtp->tv_nsec = 0;
00078     }
00079     return 0;
00080   }
00081   else
00082 #endif
00083   {
00084     return ::nanosleep(rqtp, rmtp);
00085   }
00086 }
00087 
00088 unsigned int sleep(unsigned int seconds)
00089 {
00090 #ifdef _SYSTEM_LXRT_
00091   if (isThisLxrtTask())
00092   {
00093     rt_sleep(nano2count(RTIME(1000000000*seconds)));
00094     return 0;
00095   }
00096   else
00097 #endif
00098   {
00099     return ::sleep(seconds);
00100   }
00101 }
00102 
00103 int usleep(unsigned long useconds)
00104 {
00105 #ifdef _SYSTEM_LXRT_
00106   if (isThisLxrtTask())
00107   {
00108     rt_sleep(nano2count(RTIME(1000*useconds)));
00109     return 0;
00110   }
00111   else
00112 #endif
00113   {
00114     return ::usleep(useconds);
00115   }
00116 }
00117 
00118 }
00119 }
00120 }


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