PeriodicThreadImplLxrt33.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of FZIs ic_workspace.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#include "PeriodicThreadImplLxrt33.h"

#include <icl_core/os_lxrt.h>

#include <rtai_lxrt.h>

namespace icl_core {
namespace thread {

PeriodicThreadImplLxrt33::PeriodicThreadImplLxrt33(const icl_core::TimeSpan& period)
  : m_period(period)
{
}

PeriodicThreadImplLxrt33::~PeriodicThreadImplLxrt33()
{
}

void PeriodicThreadImplLxrt33::makePeriodic()
{
  rt_task_make_periodic_relative_ns(rt_buddy(), 0, m_period.toNSec());
}

bool PeriodicThreadImplLxrt33::setPeriod(const icl_core::TimeSpan& period)
{
  m_period = period;
  return true;
}

void PeriodicThreadImplLxrt33::waitPeriod()
{
  while (rt_task_wait_period())
  { }
}


}
}