helpers.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2022 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#ifndef UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED
#define UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED
 
#include <chrono>
#include <functional>
#ifdef _WIN32
 
#  define NOMINMAX
#  define WIN32_LEAN_AND_MEAN
#  include <Windows.h>
 
#  ifdef ERROR
#    undef ERROR
#  endif  // ERROR
 
#  define SCHED_FIFO (1)
 
typedef HANDLE pthread_t;
 
static inline pthread_t pthread_self()
{
  return ::GetCurrentThread();
}
 
static inline int sched_get_priority_max(int policy)
{
  (void)policy;
  return THREAD_PRIORITY_TIME_CRITICAL;
}
 
#else  // _WIN32
 
#  include <pthread.h>
 
#endif  // _WIN32
 
namespace urcl
{
bool setFiFoScheduling(pthread_t& thread, const int priority);
 
void waitFor(std::function<bool()> condition, const std::chrono::milliseconds timeout,
             const std::chrono::milliseconds check_interval = std::chrono::milliseconds(50));
}  // namespace urcl
#endif  // ifndef UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED