#include <stdio.h>#include <stdlib.h>#include <errno.h>#include <string.h>#include <limits.h>#include <float.h>#include <assert.h>#include "../oro_limits.h"#include "../../rtt-config.h"#include <sys/time.h>#include <time.h>#include <unistd.h>#include "dlfcn.h"
Go to the source code of this file.
Classes | |
| struct | oro_timespec |
| struct | rt_cond_t |
| struct | RTOS_TASK |
Defines | |
| #define | HAVE_FOSI_API |
| #define | ORO_SCHED_OTHER 1 /** Linux normal scheduler */ |
| #define | ORO_SCHED_RT 0 /** Linux FIFO scheduler */ |
| #define | ORO_WAIT_ABS |
| #define | ORO_WAIT_REL |
| #define | rtos_printf printf |
Typedefs | |
| typedef long long | NANO_TIME |
| typedef CRITICAL_SECTION | rt_mutex_t |
| typedef CRITICAL_SECTION | rt_rec_mutex_t |
| typedef HANDLE | rt_sem_t |
| typedef long long | TICK_TIME |
| typedef struct oro_timespec | TIME_SPEC |
Functions | |
| long long | nano2ticks (long long nano) |
| static int | rtos_cond_broadcast (rt_cond_t *cond) |
| static int | rtos_cond_destroy (rt_cond_t *cond) |
| static int | rtos_cond_init (rt_cond_t *cond) |
| static int | rtos_cond_signal (rt_cond_t *cond) |
| static int | rtos_cond_timedwait (rt_cond_t *cond, rt_mutex_t *mutex, NANO_TIME abs_time) |
| static int | rtos_cond_timedwait_internal (rt_cond_t *cond, rt_mutex_t *external_mutex, DWORD ms) |
| static int | rtos_cond_wait (rt_cond_t *cond, rt_mutex_t *mutex) |
| static void | rtos_disable_rt_warning () |
| static void | rtos_enable_rt_warning () |
| NANO_TIME | rtos_get_time_ns (void) |
| TICK_TIME | rtos_get_time_ticks () |
| static int | rtos_mutex_destroy (rt_mutex_t *m) |
| static int | rtos_mutex_init (rt_mutex_t *m) |
| static int | rtos_mutex_lock (rt_mutex_t *m) |
| static int | rtos_mutex_lock_until (rt_mutex_t *m, NANO_TIME abs_time) |
| static int | rtos_mutex_rec_destroy (rt_rec_mutex_t *m) |
| static int | rtos_mutex_rec_init (rt_rec_mutex_t *m) |
| static int | rtos_mutex_rec_lock (rt_rec_mutex_t *m) |
| static int | rtos_mutex_rec_lock_until (rt_mutex_t *m, NANO_TIME abs_time) |
| static int | rtos_mutex_rec_trylock (rt_rec_mutex_t *m) |
| static int | rtos_mutex_rec_unlock (rt_rec_mutex_t *m) |
| static int | rtos_mutex_trylock (rt_mutex_t *m) |
| static int | rtos_mutex_unlock (rt_mutex_t *m) |
| 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_value (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) |
| int | setenv (const char *name, const char *value, int overwrite) |
| RTT_API unsigned int | sleep (unsigned int seconds) |
| long long | ticks2nano (long long count) |
| TIME_SPEC | ticks2timespec (TICK_TIME hrt) |
| RTT_API int | usleep (unsigned int us) |
| int | win32_nanosleep (long long nano) |
Variables | |
| const NANO_TIME | InfiniteNSecs = LLONG_MAX |
| const double | InfiniteSeconds = DBL_MAX |
| const TICK_TIME | InfiniteTicks = LLONG_MAX |
Define Documentation
| #define HAVE_FOSI_API |
This file translates the FOSI (Framework Operating System Interface) from orocos calls to native RTOS calls
Definition at line 28 of file win32/fosi.h.
| #define ORO_SCHED_OTHER 1 /** Linux normal scheduler */ |
Definition at line 98 of file win32/fosi.h.
| #define ORO_SCHED_RT 0 /** Linux FIFO scheduler */ |
Definition at line 97 of file win32/fosi.h.
| #define ORO_WAIT_ABS |
0
Definition at line 81 of file win32/fosi.h.
| #define ORO_WAIT_REL |
1
Definition at line 82 of file win32/fosi.h.
| #define rtos_printf printf |
Definition at line 421 of file win32/fosi.h.
Typedef Documentation
| typedef long long NANO_TIME |
Definition at line 73 of file win32/fosi.h.
| typedef CRITICAL_SECTION rt_mutex_t |
Definition at line 229 of file win32/fosi.h.
| typedef CRITICAL_SECTION rt_rec_mutex_t |
Definition at line 230 of file win32/fosi.h.
| typedef HANDLE rt_sem_t |
Definition at line 171 of file win32/fosi.h.
| typedef long long TICK_TIME |
Definition at line 74 of file win32/fosi.h.
| typedef struct oro_timespec TIME_SPEC |
Definition at line 106 of file win32/fosi.h.
Function Documentation
| long long nano2ticks | ( | long long | nano | ) | [inline] |
No conversions are needed in userspace. The HBGenerator needs this for accurate timekeeping, which is an anachronism in userspace.
Definition at line 158 of file win32/fosi.h.
| static int rtos_cond_broadcast | ( | rt_cond_t * | cond | ) | [inline, static] |
Definition at line 397 of file win32/fosi.h.
| static int rtos_cond_destroy | ( | rt_cond_t * | cond | ) | [inline, static] |
Definition at line 342 of file win32/fosi.h.
| static int rtos_cond_init | ( | rt_cond_t * | cond | ) | [inline, static] |
Definition at line 321 of file win32/fosi.h.
| static int rtos_cond_signal | ( | rt_cond_t * | cond | ) | [inline, static] |
Definition at line 409 of file win32/fosi.h.
| static int rtos_cond_timedwait | ( | rt_cond_t * | cond, |
| rt_mutex_t * | mutex, | ||
| NANO_TIME | abs_time | ||
| ) | [inline, static] |
Definition at line 387 of file win32/fosi.h.
| static int rtos_cond_timedwait_internal | ( | rt_cond_t * | cond, |
| rt_mutex_t * | external_mutex, | ||
| DWORD | ms | ||
| ) | [inline, static] |
Definition at line 352 of file win32/fosi.h.
| static int rtos_cond_wait | ( | rt_cond_t * | cond, |
| rt_mutex_t * | mutex | ||
| ) | [inline, static] |
Definition at line 392 of file win32/fosi.h.
| static void rtos_disable_rt_warning | ( | ) | [inline, static] |
Definition at line 303 of file win32/fosi.h.
| static void rtos_enable_rt_warning | ( | ) | [inline, static] |
Definition at line 299 of file win32/fosi.h.
| NANO_TIME rtos_get_time_ns | ( | void | ) | [inline] |
Get "system" time in nanoseconds
Definition at line 118 of file win32/fosi.h.
| TICK_TIME rtos_get_time_ticks | ( | void | ) | [inline] |
This function should return ticks, but we use ticks == nsecs in userspace
Definition at line 132 of file win32/fosi.h.
| static int rtos_mutex_destroy | ( | rt_mutex_t * | m | ) | [inline, static] |
Definition at line 238 of file win32/fosi.h.
| static int rtos_mutex_init | ( | rt_mutex_t * | m | ) | [inline, static] |
Definition at line 232 of file win32/fosi.h.
| static int rtos_mutex_lock | ( | rt_mutex_t * | m | ) | [inline, static] |
Definition at line 254 of file win32/fosi.h.
| static int rtos_mutex_lock_until | ( | rt_mutex_t * | m, |
| NANO_TIME | abs_time | ||
| ) | [inline, static] |
Definition at line 277 of file win32/fosi.h.
| static int rtos_mutex_rec_destroy | ( | rt_rec_mutex_t * | m | ) | [inline, static] |
Definition at line 249 of file win32/fosi.h.
| static int rtos_mutex_rec_init | ( | rt_rec_mutex_t * | m | ) | [inline, static] |
Definition at line 244 of file win32/fosi.h.
| static int rtos_mutex_rec_lock | ( | rt_rec_mutex_t * | m | ) | [inline, static] |
Definition at line 289 of file win32/fosi.h.
| static int rtos_mutex_rec_lock_until | ( | rt_mutex_t * | m, |
| NANO_TIME | abs_time | ||
| ) | [inline, static] |
Definition at line 284 of file win32/fosi.h.
| static int rtos_mutex_rec_trylock | ( | rt_rec_mutex_t * | m | ) | [inline, static] |
Definition at line 272 of file win32/fosi.h.
| static int rtos_mutex_rec_unlock | ( | rt_rec_mutex_t * | m | ) | [inline, static] |
Definition at line 294 of file win32/fosi.h.
| static int rtos_mutex_trylock | ( | rt_mutex_t * | m | ) | [inline, static] |
Definition at line 266 of file win32/fosi.h.
| static int rtos_mutex_unlock | ( | rt_mutex_t * | m | ) | [inline, static] |
Definition at line 260 of file win32/fosi.h.
| int rtos_nanosleep | ( | const TIME_SPEC * | rqtp, |
| TIME_SPEC * | rmtp | ||
| ) | [inline] |
Definition at line 147 of file win32/fosi.h.
| static int rtos_sem_destroy | ( | rt_sem_t * | m | ) | [inline, static] |
Definition at line 179 of file win32/fosi.h.
| static int rtos_sem_init | ( | rt_sem_t * | m, |
| int | value | ||
| ) | [inline, static] |
Definition at line 173 of file win32/fosi.h.
| static int rtos_sem_signal | ( | rt_sem_t * | m | ) | [inline, static] |
Definition at line 185 of file win32/fosi.h.
| static int rtos_sem_trywait | ( | rt_sem_t * | m | ) | [inline, static] |
Definition at line 195 of file win32/fosi.h.
| static int rtos_sem_value | ( | rt_sem_t * | m | ) | [inline, static] |
Definition at line 212 of file win32/fosi.h.
| static int rtos_sem_wait | ( | rt_sem_t * | m | ) | [inline, static] |
Definition at line 190 of file win32/fosi.h.
| static int rtos_sem_wait_timed | ( | rt_sem_t * | m, |
| NANO_TIME | delay | ||
| ) | [inline, static] |
Definition at line 200 of file win32/fosi.h.
| static int rtos_sem_wait_until | ( | rt_sem_t * | m, |
| NANO_TIME | abs_time | ||
| ) | [inline, static] |
Definition at line 205 of file win32/fosi.h.
| int setenv | ( | const char * | name, |
| const char * | value, | ||
| int | overwrite | ||
| ) |
| long long ticks2nano | ( | long long | count | ) | [inline] |
Definition at line 164 of file win32/fosi.h.
| TIME_SPEC ticks2timespec | ( | TICK_TIME | hrt | ) | [inline] |
Definition at line 110 of file win32/fosi.h.
| int win32_nanosleep | ( | long long | nano | ) | [inline] |
Definition at line 137 of file win32/fosi.h.
Variable Documentation
| const NANO_TIME InfiniteNSecs = LLONG_MAX |
Definition at line 78 of file win32/fosi.h.
| const double InfiniteSeconds = DBL_MAX |
Definition at line 79 of file win32/fosi.h.
| const TICK_TIME InfiniteTicks = LLONG_MAX |
Definition at line 77 of file win32/fosi.h.