RTT::os Namespace Reference

OS Abstractions such as Mutexes, Semaphores and Threads. More...

Classes
class	AtomicInt
class	basic_iostreams
class	basic_istreams
class	basic_ostreams
class	basic_streams
struct	CleanupFunction
class	Condition
	An object oriented wrapper around a condition variable. More...
struct	InitFunction
class	local_allocator
class	local_allocator< void >
class	MainThread
class	Mutex
	An object oriented wrapper around a non recursive mutex. More...
class	MutexInterface
	An interface to a Mutex. More...
class	MutexLock
	MutexLock is a scope based Monitor, protecting critical sections with a Mutex object through locking and unlocking it. More...
class	MutexRecursive
	An object oriented wrapper around a recursive mutex. More...
class	MutexTimedLock
	A MutexTimedLock locks a Mutex object on construction and if successful, unlocks it on destruction of the MutexTimedLock. If the lock can not be acquired within the user provided time limit, the attempt is aborted. Use isSuccessful() to check whether the attempt succeeded. More...
class	MutexTryLock
	A MutexTryLock tries to lock an Mutex object on construction and if successful, unlocks it on destruction of the MutexTryLock. Use isSuccessful() to check whether the attempt succeeded. More...
struct	PosixCookie
struct	print_helper
class	printbufs
class	printstream
class	rt_allocator
class	rt_allocator< void >
struct	rt_list
struct	RTAI_Thread
class	Semaphore
class	SharedMutex
	An object oriented wrapper around a shared mutex (multiple readers allowed, but only one writer with exclusive access). More...
class	SharedMutexLock
	SharedMutexLock is a scope based Monitor, protecting critical sections with a SharedMutex object through locking and unlocking it. More...
class	StartStopManager
	This manager starts and stops all globally registered start/stop functions, without a particular order. More...
class	streambufs
struct	string_helper
class	stringbufs
class	stringstreams
class	Thread
class	ThreadInterface
struct	ThreadWrapperData
class	Timer
class	TimeService
struct	XenoCookie

Functions
template<class T , class V , class W >
bool	CAS (volatile T *addr, const V &expected, const W &value)
bool	CAS (volatile oro_atomic_t *addr, const int expected, const int value)
bool	CheckPriority (int &sched_type, int &priority)
bool	CheckScheduler (int &sched_type)
basic_ostreams &	endl (basic_ostreams &s)
void	ErrorHandler (LPTSTR lpszFunction)
template<class T , class A , class A2 >
bool	operator!= (const local_allocator< T, A > &, const local_allocator< T, A2 > &)
template<class T , class A >
bool	operator!= (const local_allocator< T, A > &, const local_allocator< T, A > &)
template<class T >
bool	operator!= (const rt_allocator< T > &, const rt_allocator< T > &)
template<class T , class A , class A2 >
bool	operator== (const local_allocator< T, A > &, const local_allocator< T, A2 > &)
template<class T , class A >
bool	operator== (const local_allocator< T, A > &, const local_allocator< T, A > &)
template<class T >
bool	operator== (const rt_allocator< T > &, const rt_allocator< T > &)
INTERNAL_QUAL void *	rtai_thread_wrapper (void *arg)
INTERNAL_QUAL void *	rtos_posix_thread_wrapper (void *cookie)
INTERNAL_QUAL int	rtos_task_check_priority (int *scheduler, int *priority)
int	rtos_task_check_scheduler (int *sched_type)
INTERNAL_QUAL int	rtos_task_create (RTOS_TASK *task, int priority, unsigned cpu_affinity, const char *name, int sched_type, size_t stack_size, void *(*start_routine)(void *), ThreadInterface *obj)
INTERNAL_QUAL int	rtos_task_create_main (RTOS_TASK *main_task)
void	rtos_task_delete (RTOS_TASK *mytask)
INTERNAL_QUAL int	rtos_task_delete_main (RTOS_TASK *main_task)
unsigned	rtos_task_get_cpu_affinity (const RTOS_TASK *task)
const char *	rtos_task_get_name (const RTOS_TASK *task)
INTERNAL_QUAL NANO_TIME	rtos_task_get_period (const RTOS_TASK *t)
unsigned int	rtos_task_get_pid (const RTOS_TASK *task)
int	rtos_task_get_priority (const RTOS_TASK *task)
int	rtos_task_get_scheduler (const RTOS_TASK *t)
int	rtos_task_is_self (const RTOS_TASK *task)
INTERNAL_QUAL void	rtos_task_make_periodic (RTOS_TASK *mytask, NANO_TIME nanosecs)
int	rtos_task_set_cpu_affinity (RTOS_TASK *task, unsigned cpu_affinity)
void	rtos_task_set_period (RTOS_TASK *mytask, NANO_TIME nanosecs)
int	rtos_task_set_priority (RTOS_TASK *task, int priority)
int	rtos_task_set_scheduler (RTOS_TASK *t, int sched_type)
void	rtos_task_set_wait_period_policy (RTOS_TASK *task, int policy)
int	rtos_task_wait_period (RTOS_TASK *task)
INTERNAL_QUAL void	rtos_task_yield (RTOS_TASK *)
INTERNAL_QUAL void	rtos_xeno_thread_wrapper (void *cookie)
void *	thread_function (void *t)
DWORD WINAPI	ThreadWrapper (void *threadData)
INTERNAL_QUAL void	wakeup_handler (cyg_handle_t alarm_handle, cyg_addrword_t data)

Variables
printstream	cout
const int	HighestPriority = ORONUM_OS_RTOS_HIGHEST_PRIORITY
const int	IncreasePriority = -1
const int	LowestPriority = ORONUM_OS_RTOS_LOWEST_PRIORITY
AtomicInt	threads (0)

Detailed Description

OS Abstractions such as Mutexes, Semaphores and Threads.

It is meant to group all packages which provide OS abstraction classes and functions in a realtime system. Examples are Threads, Mutexes and standard libraries.

OS abstractions.

Function Documentation

template<class T , class V , class W >

bool RTT::os::CAS ( volatile T *  addr, const V &  expected, const W &  value  )

inline

Compare And Swap. Also known as Compare Exchange (cmpxch). If addr contains expected, replace it with value, and return true. Otherwise, return false.

Definition at line 54 of file CAS.hpp.

bool RTT::os::CAS ( volatile oro_atomic_t *  addr, const int  expected, const int  value  )

inline

Overload of Compare And Swap for oro_atomic_t.

Definition at line 61 of file CAS.hpp.

bool RTT_API RTT::os::CheckPriority	(	int &	sched_type,
		int &	priority
	)

Check if the scheduler type and priority match and adapt to a valid value. If sched_type is unknown a default is choosen. If priority is invalid within sched_type, a default is choosen.

Returns

true if the arguments made sense, false if a correction was applied.

Definition at line 51 of file threads.cpp.

bool RTT_API RTT::os::CheckScheduler

(

int &

sched_type

)

Check if the scheduler is a valid type in the current process and adapt to a valid value.

Returns

true if sched_type made sense, false if a correction was applied.

Definition at line 46 of file threads.cpp.

basic_ostreams & RTT::os::endl

(

basic_ostreams &

)

Flush and newline.

Definition at line 110 of file rtstreams.cpp.

void RTT::os::ErrorHandler

(

LPTSTR

lpszFunction

)

Definition at line 56 of file win32/fosi_internal.cpp.

template<class T , class A , class A2 >

bool RTT::os::operator!= ( const local_allocator< T, A > &  , const local_allocator< T, A2 > &    )

inline

Definition at line 217 of file oro_allocator.hpp.

template<class T , class A >

bool RTT::os::operator!= ( const local_allocator< T, A > &  , const local_allocator< T, A > &    )

inline

Definition at line 229 of file oro_allocator.hpp.

template<class T >

bool RTT::os::operator!= ( const rt_allocator< T > &  , const rt_allocator< T > &    )

inline

Definition at line 312 of file oro_allocator.hpp.

template<class T , class A , class A2 >

bool RTT::os::operator== ( const local_allocator< T, A > &  , const local_allocator< T, A2 > &    )

inline

Definition at line 211 of file oro_allocator.hpp.

template<class T , class A >

bool RTT::os::operator== ( const local_allocator< T, A > &  , const local_allocator< T, A > &    )

inline

Definition at line 223 of file oro_allocator.hpp.

template<class T >

bool RTT::os::operator== ( const rt_allocator< T > &  , const rt_allocator< T > &    )

inline

Definition at line 306 of file oro_allocator.hpp.

INTERNAL_QUAL void* RTT::os::rtai_thread_wrapper

(

void *

arg

)

Definition at line 154 of file lxrt/fosi_internal.cpp.

INTERNAL_QUAL void* RTT::os::rtos_posix_thread_wrapper

(

void *

cookie

)

Definition at line 91 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_check_priority	(	int *	sched_type,
		int *	priority
	)

This function checks (and corrects) a given priority within a given scheduler type. Incorrect arguments are re-set to a sensible default.

Parameters

sched_type	An integer denoting a scheduler type, which will be updated if it's not a valid value.
priority	An integer denoting the priority, which will be updated if it's not a valid value (within that scheduler).

Returns

0 when it is valid, -1 when invalid and corrected.

Definition at line 248 of file ecos/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_check_scheduler

(

int *

sched_type

)

This function checks (and corrects) if the given sched_type is valid for this RTOS. If it's not, a sensible default is returned in the argument

Parameters

sched_type

An integer denoting a scheduler type, which will be updated if it's not a valid value.

Returns

0 when it is valid, -1 when invalid and corrected.

Definition at line 326 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_create	(	RTOS_TASK *	task,
		int	priority,
		unsigned	cpu_affinity,
		const char *	name,
		int	sched_type,
		size_t	stack_size,
		void *(*)(void *)	start_routine,
		ThreadInterface *	obj
	)

Create a thread. Spawn a new thread with the given arguments. When rtos_task_create returns successfully, the task structure must be initialised fully and be valid.

Parameters

task	An uninitialised, by the user allocated struct which will be used to store the task data in.
priority	The priority of the thread, to be interpreted by the underlying RTOS.
cpu_affinity	The cpu affinity of the thread (

See also

rtos_task_set_cpu_affinity).

Parameters

name	The name for the thread, or null if none is given.
sched_type	The scheduler type, one of ORO_SCHED_OTHER, ORO_SCHED_RT or a value defined by your RTOS.
stack_size	The stack size of this thread, or zero when the default stack size may be used.
start_routine	The entry function that the thread will execute.
obj	The argument to pass to that thread.

Returns

zero on success, -1 if it could not be created.

Definition at line 58 of file ecos/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_create_main

(

RTOS_TASK *

main_task

)

Initialise the main thread. Anything necessary to setup the real-time environment on the current RTOS may be done here. This is the first function that the RTT will call in the FOSI layer, when the MainThread object is constructed. Typically, the main thread is assigned a priority, put in a scheduler and memory is locked into RAM.

Definition at line 43 of file ecos/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_delete

(

RTOS_TASK *

mytask

)

This function must join the thread created with rtos_task_create and then clean up the RTOS_TASK struct. This function may not be called from the thread itself.

Parameters

mytask

The thread to join and cleanup.

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

INTERNAL_QUAL int RTT::os::rtos_task_delete_main

(

RTOS_TASK *

main_task

)

Cleanup the main thread. This undoes the actions taken by rtos_task_create_main(). This is the last function that the RTT will call in the FOSI layer, when the MainThread object is destructed.

Definition at line 50 of file ecos/fosi_internal.cpp.

INTERNAL_QUAL unsigned RTT::os::rtos_task_get_cpu_affinity

(

const RTOS_TASK *

task

)

Return the cpu affinity of a thread.

Parameters

task	The thread to get the cpu affinity

Returns

the cpu affinity (

See also

rtos_task_set_cpu_affinity)

Definition at line 460 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL const char * RTT::os::rtos_task_get_name

(

const RTOS_TASK *

task

)

Returns the name by which a task is known in the RTOS.

Parameters

task	The task to query.

Returns

It's name.

Definition at line 475 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL NANO_TIME RTT::os::rtos_task_get_period

(

const RTOS_TASK *

t

)

Definition at line 230 of file win32/fosi_internal.cpp.

INTERNAL_QUAL unsigned int RTT::os::rtos_task_get_pid

(

const RTOS_TASK *

task

)

Returns the process ID the OS gave to the task task.

Parameters

task	The task handle of the thread to query

Returns

0 typically denotes the PID could not be obtained, but any interpretation is left to the user of the Operating System.

Definition at line 220 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_get_priority

(

const RTOS_TASK *

task

)

Return the priority of a thread.

Parameters

task	The thread to get the priority of

Returns

the priority, as recorded by the underlying RTOS.

Definition at line 431 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_get_scheduler

(

const RTOS_TASK *

t

)

Returns the current scheduler set for task t.

Parameters

t	The RTOS task to query.

Returns

The scheduler type defined by your RTOS in which t is running.

Definition at line 251 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_is_self

(

const RTOS_TASK *

task

)

Returns 1 when task is the task struct of the thread calling this function, 0 otherwise.

Parameters

task	the task struct to compare against.

Return values

-1	if task is not a valid task struct or this thread is not known to the rtos layer.

Definition at line 227 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_make_periodic	(	RTOS_TASK *	mytask,
		NANO_TIME	nanosecs
	)

This function is to inform the RTOS that a thread is switching between periodic or non-periodic execution. This may temporarily suspend the thread. For on-line periodic changes, use rtos_task_set_period, which is guaranteed to keep the thread running.

Parameters

mytask	The RTOS task to change.
nanosecs	Set to zero if you wish to switch to non periodic execution, set to a positive value (the period in nano seconds) if you wish to switch to periodic execution.

Definition at line 106 of file ecos/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_set_cpu_affinity	(	RTOS_TASK *	task,
		unsigned	cpu_affinity
	)

Set the cpu affinity of a thread.

Parameters

task	The thread to change the cpu affinity of
cpu_affinity	is a bit mask with the cpu this thread should be bound. The bit 0 is the cpu 0, the bit 1, the cpu 1 and so on. For example ((1 << 0) | (1 << 1)) will bound to cpu 0 and 1.

Returns

0 if the cpu affinity could be set.

Definition at line 444 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_set_period	(	RTOS_TASK *	mytask,
		NANO_TIME	nanosecs
	)

Change the period of a periodic RTOS task. You must first use rtos_task_make_periodic() before calling this function. This function may not suspend the thread.

Parameters

mytask	The RTOS task to change the period.
nanosecs	the new period. As a special exception, if this is equal to zero, it is to inform the RTOS that we'll block this periodic thread for an unspecified amount of time and that this should not trigger a watchdog, or lead to 'catching up' or signalling overruns.

Definition at line 268 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_set_priority	(	RTOS_TASK *	task,
		int	priority
	)

Set the priority of a thread.

Parameters

task	The thread to change the priority of
priority	The priority as interpreted by the underlying RTOS.

Returns

0 if the priority could be set.

Definition at line 415 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_set_scheduler	(	RTOS_TASK *	t,
		int	sched_type
	)

Set the scheduler of a given task t to a the type sched_type. In some RTOS's the scheduler can't be changed or the change can only be done for the calling thread.

Parameters

t	The RTOS task to change.
sched_type	A scheduler typed known by your RTOS.

Return values

0	when the scheduler of t was changed successfully
-1	if scheduler for t could not be changed or sched_type is invalid
-2	if sched_type is valid but can only be changed for the current thread which is not t. In this case, the calling code should find a way to let the thread associated with t make the call to rtos_task_set_scheduler().

Definition at line 234 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_set_wait_period_policy	(	RTOS_TASK *	task,
		int	policy
	)

Set the wait policy of a thread.

Parameters

task	The RTOS task to change.
policy	The wait policy.

Definition at line 273 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_wait_period

(

RTOS_TASK *

task

)

This function is called by a periodic thread which wants to go to sleep and wake up the next period.

Parameters

task	This must be RTOS_TASK struct of the calling thread.

Returns

zero on success (or if the thread is non periodic), non-zero to indicate an overrun.

Definition at line 278 of file gnulinux/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_yield

(

RTOS_TASK *

task

)

Yields the current thread. This function may be left empty.

Parameters

task	The task handle of the current thread.

Definition at line 96 of file ecos/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_xeno_thread_wrapper

(

void *

cookie

)

Definition at line 186 of file xenomai/fosi_internal.cpp.

void* RTT::os::thread_function

(

void *

t

)

This is one time initialisation

The real task starts here.

Definition at line 82 of file Thread.cpp.

DWORD WINAPI RTT::os::ThreadWrapper

(

void *

threadData

)

Definition at line 97 of file win32/fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::wakeup_handler	(	cyg_handle_t	alarm_handle,
		cyg_addrword_t	data
	)

Definition at line 100 of file ecos/fosi_internal.cpp.

Variable Documentation

printstream RTT::os::cout

Console Output.

Definition at line 45 of file rtstreams.cpp.

const int RTT::os::HighestPriority = ORONUM_OS_RTOS_HIGHEST_PRIORITY

An integer denoting the highest priority of the selected OS.

Definition at line 45 of file ecosthreads.cpp.

const int RTT::os::IncreasePriority = -1

An interval to be added 'n' times to LowestPriority to get an 'n' times higher priority.

Definition at line 46 of file ecosthreads.cpp.

const int RTT::os::LowestPriority = ORONUM_OS_RTOS_LOWEST_PRIORITY

An integer denoting the lowest priority of the selected OS.

Definition at line 44 of file ecosthreads.cpp.

AtomicInt RTT_API RTT::os::threads

The number of threads in addition to the main() thread. The main thread is thread zero (0). threads is increased by one for each PeriodicThread or SingleThread object created and is never decreased.

Definition at line 54 of file threads.hpp.