IRQActivity.hpp

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/***************************************************************************
  tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  IRQActivity.hpp

                        IRQActivity.hpp -  description
                           -------------------
    begin                : Thu October 22 2009
    copyright            : (C) 2009 Peter Soetens
    email                : peter@thesourcworks.com

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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#ifndef IRQ_ACTIVITY_HPP
#define IRQ_ACTIVITY_HPP

#include "../Activity.hpp"
#include "../rtt-config.h"

#ifdef OROPKG_OS_XENOMAI
#include <native/intr.h>
#else
// Provide a dump RT_INTR type. start() always returns false on non-Xenomai
// OSes.
struct RT_INTR { };
#ifndef RTT_DLL_EXPORT
#ifdef _MSC_VER
        #pragma message( "IRQActivity is available only on Xenomai. It will fail on startup")
#else
#warning "IRQActivity is available only on Xenomai. It will fail on startup"
#endif
#endif
#endif

namespace RTT { namespace extras {

    class RTT_API IRQActivity : public Activity
    {
        int      m_irq;
        RT_INTR  m_handle;
        base::RunnableInterface* m_runner;

    public:
        struct Provider {
            virtual int getIRQ() const = 0;
        };

        IRQActivity(int priority, base::RunnableInterface* _r = 0, const std::string& name ="IRQActivity" );

        IRQActivity(int scheduler, int priority, base::RunnableInterface* _r = 0, const std::string& name ="IRQActivity" );

        virtual ~IRQActivity();

        int  getIRQ() const;
        void setIRQ(int irq);

        virtual bool start();
#ifdef OROPKG_OS_XENOMAI
        virtual void loop();
        virtual bool breakLoop();
        virtual void step();
#endif
    };
}}

#endif