fosi.h File Reference

#include <stdio.h>
#include <pthread.h>
#include <mach/mach_init.h>
#include <mach/task.h>
#include <errno.h>
#include <limits.h>
#include <float.h>
#include <assert.h>
#include <sys/time.h>
#include <time.h>
#include <unistd.h>
#include <mach/semaphore.h>

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Classes
struct	RTOS_TASK
Defines
#define	_DARWIN_C_SOURCE
#define	CLOCK_REALTIME   0
#define	HAVE_FOSI_API
#define	ORO_SCHED_OTHER   SCHED_OTHER /** Posix normal scheduler */
#define	ORO_SCHED_RT   SCHED_FIFO /** Posix FIFO scheduler */
#define	ORO_WAIT_ABS
#define	ORO_WAIT_REL
#define	rtos_printf   printf
Typedefs
typedef long long	NANO_TIME
typedef struct rt_mutex_impl_t	rt_mutex_impl_t
typedef rt_mutex_impl_t *	rt_mutex_t
typedef semaphore_t	rt_sem_t
typedef long long	TICK_TIME
typedef struct timespec	TIME_SPEC
Functions
static int	clock_gettime (int clk_id, struct timespec *tp)
static long long	nano2ticks (long long nano)
static void	rtos_disable_rt_warning ()
static void	rtos_enable_rt_warning ()
static NANO_TIME	rtos_get_time_ns (void)
static NANO_TIME	rtos_get_time_ticks ()
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_unlock (rt_mutex_t *m)
static int	rtos_nanosleep (const TIME_SPEC *rqtp, TIME_SPEC *rmtp)
static int	rtos_sem_destroy (rt_sem_t *m)
static int	rtos_sem_init (rt_sem_t *m, int value)
static int	rtos_sem_signal (rt_sem_t *m)
static int	rtos_sem_trywait (rt_sem_t *m)
static int	rtos_sem_wait (rt_sem_t *m)
static int	rtos_sem_wait_timed (rt_sem_t *m, NANO_TIME delay)
static int	rtos_sem_wait_until (rt_sem_t *m, NANO_TIME abs_time)
static long long	ticks2nano (long long count)
static TIME_SPEC	ticks2timespec (TICK_TIME hrt)
Variables
static const NANO_TIME	InfiniteNSecs = LLONG_MAX
static const double	InfiniteSeconds = DBL_MAX
static const TICK_TIME	InfiniteTicks = LLONG_MAX

---

Define Documentation

#define _DARWIN_C_SOURCE

Definition at line 18 of file macosx/fosi.h.

#define CLOCK_REALTIME   0

Definition at line 76 of file macosx/fosi.h.

#define HAVE_FOSI_API

Definition at line 20 of file macosx/fosi.h.

#define ORO_SCHED_OTHER   SCHED_OTHER /** Posix normal scheduler */

Definition at line 64 of file macosx/fosi.h.

#define ORO_SCHED_RT   SCHED_FIFO /** Posix FIFO scheduler */

Definition at line 63 of file macosx/fosi.h.

#define ORO_WAIT_ABS

Value:

0 

Definition at line 46 of file macosx/fosi.h.

#define ORO_WAIT_REL

Value:

1 

Definition at line 47 of file macosx/fosi.h.

#define rtos_printf   printf

Definition at line 237 of file macosx/fosi.h.

---

Typedef Documentation

typedef long long NANO_TIME

Definition at line 39 of file macosx/fosi.h.

typedef struct rt_mutex_impl_t rt_mutex_impl_t

Definition at line 220 of file macosx/fosi.h.

typedef rt_mutex_impl_t* rt_mutex_t

Definition at line 222 of file macosx/fosi.h.

typedef semaphore_t rt_sem_t

Definition at line 143 of file macosx/fosi.h.

typedef long long TICK_TIME

Definition at line 40 of file macosx/fosi.h.

typedef struct timespec TIME_SPEC

Definition at line 73 of file macosx/fosi.h.

---

Function Documentation

static int clock_gettime	(	int	clk_id,
		struct timespec *	tp
	)		[inline, static]

Definition at line 77 of file macosx/fosi.h.

static long long nano2ticks

(

long long

nano

)

[inline, static]

Definition at line 127 of file macosx/fosi.h.

static void rtos_disable_rt_warning

(

)

[inline, static]

Definition at line 232 of file macosx/fosi.h.

static void rtos_enable_rt_warning

(

)

[inline, static]

Definition at line 228 of file macosx/fosi.h.

static NANO_TIME rtos_get_time_ns

(

void

)

[inline, static]

Definition at line 100 of file macosx/fosi.h.

static NANO_TIME rtos_get_time_ticks

(

void

)

[inline, static]

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

Definition at line 116 of file macosx/fosi.h.

int rtos_mutex_destroy

(

rt_mutex_t *

m

)

Definition at line 303 of file macosx/fosi_internal.cpp.

int rtos_mutex_init

(

rt_mutex_t *

m

)

Definition at line 296 of file macosx/fosi_internal.cpp.

int rtos_mutex_lock

(

rt_mutex_t *

m

)

Definition at line 312 of file macosx/fosi_internal.cpp.

int rtos_mutex_unlock

(

rt_mutex_t *

m

)

Definition at line 320 of file macosx/fosi_internal.cpp.

static int rtos_nanosleep	(	const TIME_SPEC *	rqtp,
		TIME_SPEC *	rmtp
	)		[inline, static]

Definition at line 121 of file macosx/fosi.h.

static int rtos_sem_destroy

(

rt_sem_t *

m

)

[inline, static]

Definition at line 150 of file macosx/fosi.h.

static int rtos_sem_init	(	rt_sem_t *	m,
		int	value
	)		[inline, static]

Definition at line 145 of file macosx/fosi.h.

static int rtos_sem_signal

(

rt_sem_t *

m

)

[inline, static]

Definition at line 155 of file macosx/fosi.h.

static int rtos_sem_trywait

(

rt_sem_t *

m

)

[inline, static]

Definition at line 173 of file macosx/fosi.h.

static int rtos_sem_wait

(

rt_sem_t *

m

)

[inline, static]

Definition at line 160 of file macosx/fosi.h.

static int rtos_sem_wait_timed	(	rt_sem_t *	m,
		NANO_TIME	delay
	)		[inline, static]

Definition at line 165 of file macosx/fosi.h.

static int rtos_sem_wait_until	(	rt_sem_t *	m,
		NANO_TIME	abs_time
	)		[inline, static]

Todo:

avoid race condition where arg_time < now

Definition at line 178 of file macosx/fosi.h.

static long long ticks2nano

(

long long

count

)

[inline, static]

Definition at line 132 of file macosx/fosi.h.

static TIME_SPEC ticks2timespec

(

TICK_TIME

hrt

)

[inline, static]

Definition at line 92 of file macosx/fosi.h.

---

Variable Documentation

const NANO_TIME InfiniteNSecs = LLONG_MAX [static]

Definition at line 43 of file macosx/fosi.h.

const double InfiniteSeconds = DBL_MAX [static]

Definition at line 44 of file macosx/fosi.h.

const TICK_TIME InfiniteTicks = LLONG_MAX [static]

Definition at line 42 of file macosx/fosi.h.