#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <sys/types.h>
#include <sched.h>
#include <assert.h>
#include <limits.h>
#include <float.h>
#include "../oro_limits.h"
#include "../../rtt-config.h"
#include <rtai_config.h>
#include <rtai_lxrt.h>
#include <rtai_sem.h>

Include dependency graph for lxrt/fosi.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	oro_rtai_cond_t

struct	oro_rtai_sem_t

struct	RTOS_TASK

Macros
#define	__LXRT_USERSPACE__

#define	_GNU_SOURCE

#define	_XOPEN_SOURCE 600

#define	CHK_LXRT_CALL()

#define	CHK_LXRT_PTR(a)

#define	HAVE_FOSI_API

#define	ORO_SCHED_OTHER 1 /** LXRT Soft real-time */

#define	ORO_SCHED_RT 0 /** LXRT Hard real-time */

#define	ORO_WAIT_ABS 0 /** Not supported for the lxrt target */

#define	ORO_WAIT_REL 1 /** Not supported for the lxrt target */

#define	SCHED_LXRT_HARD 0 /** LXRT Hard real-time */

#define	SCHED_LXRT_SOFT 1 /** LXRT Soft real-time */

Typedefs
typedef long long	NANO_TIME

typedef struct oro_rtai_cond_t	rt_cond_t

typedef rt_sem_t	rt_mutex_t

typedef rt_sem_t	rt_rec_mutex_t

typedef struct oro_rtai_sem_t	rt_sem_t

typedef CND	RTOS_RTAI_CND

typedef SEM	RTOS_RTAI_SEM

typedef RT_TASK	RTOS_RTAI_TASK

typedef long long	TICK_TIME

typedef struct timespec	TIME_SPEC

Functions
TICK_TIME	nano2ticks (NANO_TIME t)

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_timedwait (rt_cond_t cond, rt_mutex_t mutex, NANO_TIME abstime)

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 (void)

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_rec_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)

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

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 when)

NANO_TIME	ticks2nano (TICK_TIME t)

TIME_SPEC	ticks2timespec (TICK_TIME hrt)

TICK_TIME	ticksPerSec (void)

Variables
static const NANO_TIME	InfiniteNSecs = LLONG_MAX

static const double	InfiniteSeconds = DBL_MAX

static const TICK_TIME	InfiniteTicks = LLONG_MAX

Macro Definition Documentation

#define __LXRT_USERSPACE__

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

#define _GNU_SOURCE

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

Definition at line 49 of file lxrt/fosi.h.

#define _XOPEN_SOURCE 600

Definition at line 54 of file lxrt/fosi.h.

#define CHK_LXRT_CALL ( )

Definition at line 186 of file lxrt/fosi.h.

#define CHK_LXRT_PTR ( a )

Definition at line 187 of file lxrt/fosi.h.

#define HAVE_FOSI_API

Definition at line 57 of file lxrt/fosi.h.

#define ORO_SCHED_OTHER 1 /** LXRT Soft real-time */

Definition at line 146 of file lxrt/fosi.h.

#define ORO_SCHED_RT 0 /** LXRT Hard real-time */

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

#define ORO_WAIT_ABS 0 /** Not supported for the lxrt target */

Definition at line 148 of file lxrt/fosi.h.

#define ORO_WAIT_REL 1 /** Not supported for the lxrt target */

Definition at line 149 of file lxrt/fosi.h.

#define SCHED_LXRT_HARD 0 /** LXRT Hard real-time */

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

#define SCHED_LXRT_SOFT 1 /** LXRT Soft real-time */

Definition at line 144 of file lxrt/fosi.h.

Typedef Documentation

typedef long long NANO_TIME

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

typedef struct oro_rtai_cond_t rt_cond_t

typedef rt_sem_t rt_mutex_t

Definition at line 122 of file lxrt/fosi.h.

typedef rt_sem_t rt_rec_mutex_t

Definition at line 123 of file lxrt/fosi.h.

typedef struct oro_rtai_sem_t rt_sem_t

typedef CND RTOS_RTAI_CND

Definition at line 90 of file lxrt/fosi.h.

typedef SEM RTOS_RTAI_SEM

Definition at line 89 of file lxrt/fosi.h.

typedef RT_TASK RTOS_RTAI_TASK

Definition at line 88 of file lxrt/fosi.h.

typedef long long TICK_TIME

Definition at line 128 of file lxrt/fosi.h.

typedef struct timespec TIME_SPEC

Definition at line 129 of file lxrt/fosi.h.

Function Documentation

TICK_TIME nano2ticks ( NANO_TIME nano )

inline

Time conversions from nano seconds to system ticks.

Definition at line 196 of file lxrt/fosi.h.

static int rtos_cond_broadcast ( rt_cond_t * cond )

inlinestatic

Definition at line 385 of file lxrt/fosi.h.

static int rtos_cond_destroy ( rt_cond_t * cond )

inlinestatic

Definition at line 359 of file lxrt/fosi.h.

static int rtos_cond_init ( rt_cond_t * cond )

inlinestatic

Definition at line 352 of file lxrt/fosi.h.

static int rtos_cond_timedwait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex,
		NANO_TIME	abstime
	)

inlinestatic

Definition at line 374 of file lxrt/fosi.h.

static int rtos_cond_wait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex
	)

inlinestatic

Definition at line 365 of file lxrt/fosi.h.

static void rtos_disable_rt_warning ( void )

inlinestatic

Definition at line 471 of file lxrt/fosi.h.

static void rtos_enable_rt_warning ( void )

inlinestatic

Definition at line 467 of file lxrt/fosi.h.

NANO_TIME rtos_get_time_ns ( void )

inline

Get "system" time in nanoseconds

Definition at line 190 of file lxrt/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

Definition at line 192 of file lxrt/fosi.h.

static int rtos_mutex_destroy ( rt_mutex_t * m )

inlinestatic

Definition at line 283 of file lxrt/fosi.h.

static int rtos_mutex_init ( rt_mutex_t * m )

inlinestatic

Definition at line 276 of file lxrt/fosi.h.

static int rtos_mutex_lock ( rt_mutex_t * m )

inlinestatic

Definition at line 303 of file lxrt/fosi.h.

static int rtos_mutex_lock_until	(	rt_mutex_t *	m,
		NANO_TIME	abs_time
	)

inlinestatic

Definition at line 327 of file lxrt/fosi.h.

static int rtos_mutex_rec_destroy ( rt_rec_mutex_t * m )

inlinestatic

Definition at line 297 of file lxrt/fosi.h.

static int rtos_mutex_rec_init ( rt_rec_mutex_t * m )

inlinestatic

Definition at line 289 of file lxrt/fosi.h.

static int rtos_mutex_rec_lock ( rt_rec_mutex_t * m )

inlinestatic

Definition at line 309 of file lxrt/fosi.h.

static int rtos_mutex_rec_lock_until	(	rt_rec_mutex_t *	m,
		NANO_TIME	abs_time
	)

inlinestatic

Definition at line 333 of file lxrt/fosi.h.

static int rtos_mutex_rec_trylock ( rt_rec_mutex_t * m )

inlinestatic

Definition at line 321 of file lxrt/fosi.h.

static int rtos_mutex_rec_unlock ( rt_rec_mutex_t * m )

inlinestatic

Definition at line 346 of file lxrt/fosi.h.

static int rtos_mutex_trylock ( rt_mutex_t * m )

inlinestatic

Definition at line 315 of file lxrt/fosi.h.

static int rtos_mutex_unlock ( rt_mutex_t * m )

inlinestatic

Definition at line 340 of file lxrt/fosi.h.

int rtos_nanosleep	(	const TIME_SPEC *	rqtp,
		TIME_SPEC *	rmtp
	)

inline

Definition at line 199 of file lxrt/fosi.h.

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

inline

'real-time' print function.

Definition at line 391 of file lxrt/fosi.h.

static int rtos_sem_destroy ( rt_sem_t * m )

inlinestatic

Definition at line 214 of file lxrt/fosi.h.

static int rtos_sem_init	(	rt_sem_t *	m,
		int	value
	)

inlinestatic

Definition at line 206 of file lxrt/fosi.h.

static int rtos_sem_signal ( rt_sem_t * m )

inlinestatic

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

static int rtos_sem_trywait ( rt_sem_t * m )

inlinestatic

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

static int rtos_sem_value ( rt_sem_t * m )

inlinestatic

Definition at line 238 of file lxrt/fosi.h.

static int rtos_sem_wait ( rt_sem_t * m )

inlinestatic

Definition at line 226 of file lxrt/fosi.h.

static int rtos_sem_wait_timed	(	rt_sem_t *	m,
		NANO_TIME	delay
	)

inlinestatic

Definition at line 244 of file lxrt/fosi.h.

static int rtos_sem_wait_until	(	rt_sem_t *	m,
		NANO_TIME	when
	)

inlinestatic

Definition at line 260 of file lxrt/fosi.h.

NANO_TIME ticks2nano ( TICK_TIME count )

inline

Time conversions from system ticks to nano seconds.

Definition at line 197 of file lxrt/fosi.h.

TIME_SPEC ticks2timespec ( TICK_TIME hrt )

inline

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

TICK_TIME ticksPerSec ( void )

inline

Definition at line 194 of file lxrt/fosi.h.

Variable Documentation

const NANO_TIME InfiniteNSecs = LLONG_MAX

static

Definition at line 140 of file lxrt/fosi.h.

const double InfiniteSeconds = DBL_MAX

static

Definition at line 141 of file lxrt/fosi.h.

const TICK_TIME InfiniteTicks = LLONG_MAX

static

Definition at line 139 of file lxrt/fosi.h.

Classes

Macros

Typedefs

Functions

Variables

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation