fosi.h File Reference

#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
Defines
#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	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

---

Define Documentation

#define __LXRT_USERSPACE__

Definition at line 100 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 30 of file lxrt/fosi.h.

#define _XOPEN_SOURCE   600

Definition at line 35 of file lxrt/fosi.h.

#define CHK_LXRT_CALL

(

)

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

#define CHK_LXRT_PTR

(

a

)

Definition at line 166 of file lxrt/fosi.h.

#define HAVE_FOSI_API

Definition at line 38 of file lxrt/fosi.h.

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

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

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

Definition at line 126 of file lxrt/fosi.h.

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

Definition at line 124 of file lxrt/fosi.h.

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

Definition at line 125 of file lxrt/fosi.h.

---

Typedef Documentation

typedef long long NANO_TIME

Definition at line 108 of file lxrt/fosi.h.

typedef struct oro_rtai_cond_t rt_cond_t

typedef rt_sem_t rt_mutex_t

Definition at line 103 of file lxrt/fosi.h.

typedef rt_sem_t rt_rec_mutex_t

Definition at line 104 of file lxrt/fosi.h.

typedef struct oro_rtai_sem_t rt_sem_t

typedef CND RTOS_RTAI_CND

Definition at line 71 of file lxrt/fosi.h.

typedef SEM RTOS_RTAI_SEM

Definition at line 70 of file lxrt/fosi.h.

typedef RT_TASK RTOS_RTAI_TASK

Definition at line 69 of file lxrt/fosi.h.

typedef long long TICK_TIME

Definition at line 109 of file lxrt/fosi.h.

typedef struct timespec TIME_SPEC

Definition at line 110 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 175 of file lxrt/fosi.h.

static int rtos_cond_broadcast

(

rt_cond_t *

cond

)

[inline, static]

Definition at line 364 of file lxrt/fosi.h.

static int rtos_cond_destroy

(

rt_cond_t *

cond

)

[inline, static]

Definition at line 338 of file lxrt/fosi.h.

static int rtos_cond_init

(

rt_cond_t *

cond

)

[inline, static]

Definition at line 331 of file lxrt/fosi.h.

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

Definition at line 353 of file lxrt/fosi.h.

static int rtos_cond_wait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex
	)		[inline, static]

Definition at line 344 of file lxrt/fosi.h.

static void rtos_disable_rt_warning

(

)

[inline, static]

Definition at line 450 of file lxrt/fosi.h.

static void rtos_enable_rt_warning

(

)

[inline, static]

Definition at line 446 of file lxrt/fosi.h.

NANO_TIME rtos_get_time_ns

(

void

)

[inline]

Get "system" time in nanoseconds

Definition at line 169 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 171 of file lxrt/fosi.h.

static int rtos_mutex_destroy

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 262 of file lxrt/fosi.h.

static int rtos_mutex_init

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 255 of file lxrt/fosi.h.

static int rtos_mutex_lock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 282 of file lxrt/fosi.h.

static int rtos_mutex_lock_until	(	rt_mutex_t *	m,
		NANO_TIME	abs_time
	)		[inline, static]

Definition at line 306 of file lxrt/fosi.h.

static int rtos_mutex_rec_destroy

(

rt_rec_mutex_t *

m

)

[inline, static]

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

static int rtos_mutex_rec_init

(

rt_rec_mutex_t *

m

)

[inline, static]

Definition at line 268 of file lxrt/fosi.h.

static int rtos_mutex_rec_lock

(

rt_rec_mutex_t *

m

)

[inline, static]

Definition at line 288 of file lxrt/fosi.h.

static int rtos_mutex_rec_lock_until	(	rt_rec_mutex_t *	m,
		NANO_TIME	abs_time
	)		[inline, static]

Definition at line 312 of file lxrt/fosi.h.

static int rtos_mutex_rec_trylock

(

rt_rec_mutex_t *

m

)

[inline, static]

Definition at line 300 of file lxrt/fosi.h.

static int rtos_mutex_rec_unlock

(

rt_rec_mutex_t *

m

)

[inline, static]

Definition at line 325 of file lxrt/fosi.h.

static int rtos_mutex_trylock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 294 of file lxrt/fosi.h.

static int rtos_mutex_unlock

(

rt_mutex_t *

m

)

[inline, static]

Definition at line 319 of file lxrt/fosi.h.

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

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

int rtos_printf	(	const char *	fmt,
			...
	)		[inline]

'real-time' print function.

Definition at line 370 of file lxrt/fosi.h.

static int rtos_sem_destroy

(

rt_sem_t *

m

)

[inline, static]

Definition at line 193 of file lxrt/fosi.h.

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

Definition at line 185 of file lxrt/fosi.h.

static int rtos_sem_signal

(

rt_sem_t *

m

)

[inline, static]

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

static int rtos_sem_trywait

(

rt_sem_t *

m

)

[inline, static]

Definition at line 211 of file lxrt/fosi.h.

static int rtos_sem_value

(

rt_sem_t *

m

)

[inline, static]

Definition at line 217 of file lxrt/fosi.h.

static int rtos_sem_wait

(

rt_sem_t *

m

)

[inline, static]

Definition at line 205 of file lxrt/fosi.h.

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

Definition at line 223 of file lxrt/fosi.h.

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

Definition at line 239 of file lxrt/fosi.h.

NANO_TIME ticks2nano

(

TICK_TIME

count

)

[inline]

Time conversions from system ticks to nano seconds.

Definition at line 176 of file lxrt/fosi.h.

TIME_SPEC ticks2timespec

(

TICK_TIME

hrt

)

[inline]

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

TICK_TIME ticksPerSec

(

void

)

[inline]

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

---

Variable Documentation

const NANO_TIME InfiniteNSecs = LLONG_MAX [static]

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

const double InfiniteSeconds = DBL_MAX [static]

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

const TICK_TIME InfiniteTicks = LLONG_MAX [static]

Definition at line 120 of file lxrt/fosi.h.