#include "oro_arch.h"

Include dependency graph for fosi_interface.h:

Macros
#define	ORO_SCHED_OTHER 1 /** Soft real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

#define	ORO_SCHED_RT 0 /** Hard real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

Typedefs
typedef long long	NANO_TIME

typedef struct cond_struct	rt_cond_t

typedef struct mutex_struct	rt_mutex_t

typedef struct recursive_mutex_struct	rt_rec_mutex_t

typedef struct sem_struct	rt_sem_t

typedef struct MyTask	RTOS_TASK

typedef long long	TICK_TIME

Functions
TICK_TIME	nano2ticks (NANO_TIME nano)

int	rtos_cond_broadcast (rt_cond_t *cond)

int	rtos_cond_destroy (rt_cond_t *cond)

int	rtos_cond_init (rt_cond_t *cond)

int	rtos_cond_timedwait (rt_cond_t cond, rt_mutex_t mutex, NANO_TIME abs_time)

int	rtos_cond_wait (rt_cond_t cond, rt_mutex_t mutex)

void	rtos_disable_rt_warning ()

void	rtos_enable_rt_warning ()

NANO_TIME	rtos_get_time_ns (void)

TICK_TIME	rtos_get_time_ticks (void)

int	rtos_mutex_destroy (rt_mutex_t *m)

int	rtos_mutex_init (rt_mutex_t *m)

int	rtos_mutex_lock (rt_mutex_t *m)

int	rtos_mutex_lock_until (rt_mutex_t *m, NANO_TIME abs_time)

int	rtos_mutex_rec_destroy (rt_rec_mutex_t *m)

int	rtos_mutex_rec_init (rt_rec_mutex_t *m)

int	rtos_mutex_rec_lock (rt_rec_mutex_t *m)

int	rtos_mutex_rec_lock_until (rt_rec_mutex_t *m, NANO_TIME abs_time)

int	rtos_mutex_rec_trylock (rt_rec_mutex_t *m)

int	rtos_mutex_rec_trylock_for (rt_rec_mutex_t *m, NANO_TIME relative_time)

int	rtos_mutex_rec_unlock (rt_rec_mutex_t *m)

int	rtos_mutex_trylock (rt_mutex_t *m)

int	rtos_mutex_trylock_for (rt_mutex_t *m, NANO_TIME relative_time)

int	rtos_mutex_unlock (rt_mutex_t *m)

int	rtos_printf (const char *fmt,...)

int	rtos_sem_destroy (rt_sem_t *m)

int	rtos_sem_init (rt_sem_t *m, int value)

int	rtos_sem_signal (rt_sem_t *m)

int	rtos_sem_trywait (rt_sem_t *m)

int	rtos_sem_value (rt_sem_t *m)

int	rtos_sem_wait (rt_sem_t *m)

NANO_TIME	ticks2nano (TICK_TIME count)

Detailed Description

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

Rename to 'fosi.h'

Definition in file fosi_interface.h.

Macro Definition Documentation

#define ORO_SCHED_OTHER 1 /** Soft real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

Definition at line 65 of file fosi_interface.h.

#define ORO_SCHED_RT 0 /** Hard real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

Definition at line 64 of file fosi_interface.h.

Typedef Documentation

typedef long long NANO_TIME

OS representation of nano seconds.

Definition at line 70 of file fosi_interface.h.

typedef struct cond_struct rt_cond_t

Definition at line 128 of file fosi_interface.h.

typedef struct mutex_struct rt_mutex_t

Definition at line 109 of file fosi_interface.h.

typedef struct recursive_mutex_struct rt_rec_mutex_t

Definition at line 110 of file fosi_interface.h.

typedef struct sem_struct rt_sem_t

Definition at line 97 of file fosi_interface.h.

typedef struct MyTask RTOS_TASK

Definition at line 58 of file fosi_interface.h.

typedef long long TICK_TIME

OS representation of system ticks.

Definition at line 74 of file fosi_interface.h.

Function Documentation

TICK_TIME nano2ticks ( long long nano )

inline

Time conversions from nano seconds to system ticks.

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

Definition at line 112 of file ecos/fosi.h.

int rtos_cond_broadcast ( rt_cond_t * cond )

int rtos_cond_destroy ( rt_cond_t * cond )

int rtos_cond_init ( rt_cond_t * cond )

int rtos_cond_timedwait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex,
		NANO_TIME	abs_time
	)

int rtos_cond_wait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex
	)

void rtos_disable_rt_warning ( )

Disallows the RTOS to print a warning when we violate real-time constraints.

void rtos_enable_rt_warning ( )

Allows the RTOS to print a warning when we violate real-time constraints.

NANO_TIME rtos_get_time_ns ( void )

inline

Get "system" time in nanoseconds

Definition at line 125 of file ecos/fosi.h.

TICK_TIME rtos_get_time_ticks ( void )

inline

Get "system" time in ticks FIXME see https://proj.fmtc.be/orocos-bugzilla/show_bug.cgi?id=60

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

Definition at line 130 of file ecos/fosi.h.

int rtos_mutex_destroy ( rt_mutex_t * m )

Definition at line 305 of file macosx/fosi_internal.cpp.

int rtos_mutex_init ( rt_mutex_t * m )

Definition at line 298 of file macosx/fosi_internal.cpp.

int rtos_mutex_lock ( rt_mutex_t * m )

Definition at line 314 of file macosx/fosi_internal.cpp.

int rtos_mutex_lock_until	(	rt_mutex_t *	m,
		NANO_TIME	abs_time
	)

int rtos_mutex_rec_destroy ( rt_rec_mutex_t * m )

int rtos_mutex_rec_init ( rt_rec_mutex_t * m )

int rtos_mutex_rec_lock ( rt_rec_mutex_t * m )

int rtos_mutex_rec_lock_until	(	rt_rec_mutex_t *	m,
		NANO_TIME	abs_time
	)

int rtos_mutex_rec_trylock ( rt_rec_mutex_t * m )

int rtos_mutex_rec_trylock_for	(	rt_rec_mutex_t *	m,
		NANO_TIME	relative_time
	)

int rtos_mutex_rec_unlock ( rt_rec_mutex_t * m )

int rtos_mutex_trylock ( rt_mutex_t * m )

int rtos_mutex_trylock_for	(	rt_mutex_t *	m,
		NANO_TIME	relative_time
	)

int rtos_mutex_unlock ( rt_mutex_t * m )

Definition at line 322 of file macosx/fosi_internal.cpp.

int rtos_printf	(	const char *	fmt,
			...
	)

inline

'real-time' print function.

Definition at line 33 of file ecos/fosi.c.

int rtos_sem_destroy ( rt_sem_t * m )

int rtos_sem_init	(	rt_sem_t *	m,
		int	value
	)

All these should return zero in case of succes. Their meaning is hopefully obvious

int rtos_sem_signal ( rt_sem_t * m )

int rtos_sem_trywait ( rt_sem_t * m )

int rtos_sem_value ( rt_sem_t * m )

int rtos_sem_wait ( rt_sem_t * m )

NANO_TIME ticks2nano ( TICK_TIME count )

inline

Time conversions from system ticks to nano seconds.

Definition at line 119 of file ecos/fosi.h.

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation