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>

Go to the source code of this file.

Classes
struct	oro_rtai_sem_t
struct	oro_rtai_cond_t
struct	RTOS_TASK

Macros
#define	_GNU_SOURCE
	This file translates the FOSI (Framework Operating System Interface) from orocos calls to native RTOS calls. More...
#define	_XOPEN_SOURCE   600
#define	HAVE_FOSI_API
#define	__LXRT_USERSPACE__
#define	SCHED_LXRT_HARD   0 /** LXRT Hard real-time */
#define	SCHED_LXRT_SOFT   1 /** LXRT Soft real-time */
#define	ORO_SCHED_RT   0 /** LXRT Hard real-time */
#define	ORO_SCHED_OTHER   1 /** LXRT Soft 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	CHK_LXRT_CALL()
#define	CHK_LXRT_PTR(a)

Typedefs
typedef RT_TASK	RTOS_RTAI_TASK
typedef SEM	RTOS_RTAI_SEM
typedef CND	RTOS_RTAI_CND
typedef struct oro_rtai_sem_t	rt_sem_t
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 long long	NANO_TIME
typedef long long	TICK_TIME
typedef struct timespec	TIME_SPEC

Functions
TIME_SPEC	ticks2timespec (TICK_TIME hrt)
NANO_TIME	rtos_get_time_ns (void)
	Get "system" time in nanoseconds. More...
TICK_TIME	rtos_get_time_ticks (void)
	Get "system" time in ticks FIXME see https://proj.fmtc.be/orocos-bugzilla/show_bug.cgi?id=60 More...
TICK_TIME	ticksPerSec (void)
TICK_TIME	nano2ticks (NANO_TIME t)
	Time conversions from nano seconds to system ticks. More...
NANO_TIME	ticks2nano (TICK_TIME t)
	Time conversions from system ticks to nano seconds. More...
int	rtos_nanosleep (const TIME_SPEC *rqtp, TIME_SPEC *rmtp)
int	rtos_printf (const char *fmt,...)
	'real-time' print function. More...

Macro Definition Documentation

#define __LXRT_USERSPACE__

Definition at line 100 of file 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 fosi.h.

#define _XOPEN_SOURCE   600

Definition at line 35 of file fosi.h.

#define CHK_LXRT_CALL

(

)

Definition at line 167 of file fosi.h.

Referenced by rtos_nanosleep().

#define CHK_LXRT_PTR

(

a

)

Definition at line 168 of file fosi.h.

#define HAVE_FOSI_API

Definition at line 38 of file fosi.h.

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

Definition at line 127 of file fosi.h.

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

Definition at line 126 of file fosi.h.

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

Definition at line 129 of file fosi.h.

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

Definition at line 130 of file fosi.h.

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

Definition at line 124 of file fosi.h.

Referenced by RTT::os::rtai_thread_wrapper().

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

Definition at line 125 of file fosi.h.

Referenced by RTT::os::rtai_thread_wrapper().

Typedef Documentation

typedef long long NANO_TIME

Definition at line 108 of file fosi.h.

typedef struct oro_rtai_cond_t rt_cond_t

typedef rt_sem_t rt_mutex_t

Definition at line 103 of file fosi.h.

typedef rt_sem_t rt_rec_mutex_t

Definition at line 104 of file fosi.h.

typedef struct oro_rtai_sem_t rt_sem_t

typedef CND RTOS_RTAI_CND

Definition at line 71 of file fosi.h.

typedef SEM RTOS_RTAI_SEM

Definition at line 70 of file fosi.h.

typedef RT_TASK RTOS_RTAI_TASK

Definition at line 69 of file fosi.h.

typedef long long TICK_TIME

Definition at line 109 of file fosi.h.

typedef struct timespec TIME_SPEC

Definition at line 110 of file fosi.h.

Function Documentation

TICK_TIME nano2ticks ( NANO_TIME  t )

inline

Time conversions from nano seconds to system ticks.

Definition at line 177 of file fosi.h.

NANO_TIME rtos_get_time_ns ( void  )

inline

Get "system" time in nanoseconds.

Definition at line 171 of file 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 173 of file fosi.h.

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

inline

Definition at line 180 of file fosi.h.

References CHK_LXRT_CALL, rtos_cond_broadcast(), rtos_cond_destroy(), rtos_cond_init(), rtos_cond_timedwait(), rtos_cond_wait(), rtos_mutex_destroy(), rtos_mutex_init(), rtos_mutex_lock(), rtos_mutex_lock_until(), rtos_mutex_rec_destroy(), rtos_mutex_rec_init(), rtos_mutex_rec_lock(), rtos_mutex_rec_lock_until(), rtos_mutex_rec_trylock(), rtos_mutex_rec_unlock(), rtos_mutex_trylock(), rtos_mutex_unlock(), rtos_sem_destroy(), rtos_sem_init(), rtos_sem_signal(), rtos_sem_trywait(), rtos_sem_value(), and rtos_sem_wait().

Referenced by RTT::os::rtos_posix_thread_wrapper(), rtos_printf(), and RTT::os::rtos_task_get_period().

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

inline

'real-time' print function.

Definition at line 372 of file fosi.h.

References nano2ticks(), rtos_cond_broadcast(), rtos_cond_destroy(), rtos_cond_init(), rtos_cond_timedwait(), rtos_cond_wait(), rtos_disable_rt_warning(), rtos_enable_rt_warning(), rtos_get_time_ns(), rtos_get_time_ticks(), rtos_mutex_destroy(), rtos_mutex_init(), rtos_mutex_lock(), rtos_mutex_lock_until(), rtos_mutex_rec_destroy(), rtos_mutex_rec_init(), rtos_mutex_rec_lock(), rtos_mutex_rec_lock_until(), rtos_mutex_rec_trylock(), rtos_mutex_rec_unlock(), rtos_mutex_trylock(), rtos_mutex_unlock(), rtos_nanosleep(), rtos_sem_destroy(), rtos_sem_init(), rtos_sem_signal(), rtos_sem_trywait(), rtos_sem_value(), rtos_sem_wait(), ticks2nano(), ticks2timespec(), and ticksPerSec().

NANO_TIME ticks2nano ( TICK_TIME  t )

inline

Time conversions from system ticks to nano seconds.

Definition at line 178 of file fosi.h.

TIME_SPEC ticks2timespec ( TICK_TIME  hrt )

inline

Definition at line 146 of file fosi.h.

Referenced by RTT::os::rtos_posix_thread_wrapper(), rtos_printf(), RTT::os::rtos_task_get_period(), RTT::os::rtos_task_get_scheduler(), and RTT::os::rtos_task_wait_period().

TICK_TIME ticksPerSec ( void  )

inline

Definition at line 175 of file fosi.h.

Referenced by rtos_printf().