fosi_interface.h File Reference

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

#include "oro_arch.h"

Go to the source code of this file.

Macros
#define	ORO_SCHED_RT   0 /** Hard real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */
#define	ORO_SCHED_OTHER   1 /** Soft real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

Typedefs
typedef struct MyTask	RTOS_TASK
typedef long long	NANO_TIME
	OS representation of nano seconds. More...
typedef long long	TICK_TIME
	OS representation of system ticks. More...
typedef struct sem_struct	rt_sem_t
typedef struct mutex_struct	rt_mutex_t
typedef struct recursive_mutex_struct	rt_rec_mutex_t
typedef struct cond_struct	rt_cond_t

Functions
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	nano2ticks (NANO_TIME nano)
	Time conversions from nano seconds to system ticks. More...
NANO_TIME	ticks2nano (TICK_TIME count)
	Time conversions from system ticks to nano seconds. More...
int	rtos_sem_init (rt_sem_t *m, int value)
	All these should return zero in case of succes. More...
int	rtos_sem_destroy (rt_sem_t *m)
int	rtos_sem_signal (rt_sem_t *m)
int	rtos_sem_wait (rt_sem_t *m)
int	rtos_sem_trywait (rt_sem_t *m)
int	rtos_sem_value (rt_sem_t *m)
int	rtos_mutex_init (rt_mutex_t *m)
int	rtos_mutex_destroy (rt_mutex_t *m)
int	rtos_mutex_rec_init (rt_rec_mutex_t *m)
int	rtos_mutex_rec_destroy (rt_rec_mutex_t *m)
int	rtos_mutex_lock (rt_mutex_t *m)
int	rtos_mutex_trylock (rt_mutex_t *m)
int	rtos_mutex_trylock_for (rt_mutex_t *m, NANO_TIME relative_time)
int	rtos_mutex_lock_until (rt_mutex_t *m, NANO_TIME abs_time)
int	rtos_mutex_unlock (rt_mutex_t *m)
int	rtos_mutex_rec_lock (rt_rec_mutex_t *m)
int	rtos_mutex_rec_trylock (rt_rec_mutex_t *m)
int	rtos_mutex_rec_trylock_for (rt_rec_mutex_t *m, NANO_TIME relative_time)
int	rtos_mutex_rec_lock_until (rt_rec_mutex_t *m, NANO_TIME abs_time)
int	rtos_mutex_rec_unlock (rt_rec_mutex_t *m)
int	rtos_cond_init (rt_cond_t *cond)
int	rtos_cond_destroy (rt_cond_t *cond)
int	rtos_cond_wait (rt_cond_t *cond, rt_mutex_t *mutex)
int	rtos_cond_timedwait (rt_cond_t *cond, rt_mutex_t *mutex, NANO_TIME abs_time)
int	rtos_cond_broadcast (rt_cond_t *cond)
int	rtos_printf (const char *fmt,...)
	'real-time' print function. More...
void	rtos_enable_rt_warning ()
	Allows the RTOS to print a warning when we violate real-time constraints. More...
void	rtos_disable_rt_warning ()
	Disallows the RTOS to print a warning when we violate real-time constraints. More...

Detailed Description

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

Rename to 'fosi.h'

Definition in file fosi_interface.h.

Macro Definition Documentation

#define ORO_SCHED_OTHER   1 /** Soft real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

Definition at line 65 of file fosi_interface.h.

#define ORO_SCHED_RT   0 /** Hard real-time scheduler type. @see RTT::OS::ThreadInterface::setScheduler */

Definition at line 64 of file fosi_interface.h.

Typedef Documentation

typedef long long NANO_TIME

OS representation of nano seconds.

Definition at line 70 of file fosi_interface.h.

typedef struct cond_struct rt_cond_t

Definition at line 128 of file fosi_interface.h.

typedef struct mutex_struct rt_mutex_t

Definition at line 109 of file fosi_interface.h.

typedef struct recursive_mutex_struct rt_rec_mutex_t

Definition at line 110 of file fosi_interface.h.

typedef struct sem_struct rt_sem_t

Definition at line 97 of file fosi_interface.h.

typedef struct MyTask RTOS_TASK

Definition at line 58 of file fosi_interface.h.

typedef long long TICK_TIME

OS representation of system ticks.

Definition at line 74 of file fosi_interface.h.

Function Documentation

TICK_TIME nano2ticks ( long long  nano )

inline

Time conversions from nano seconds to system ticks.

Time conversions from nano seconds to system ticks.

The HBGenerator needs this for accurate timekeeping, which is an anachronism in userspace.

Definition at line 100 of file fosi.h.

Referenced by RTT::os::TimeService::nsecs2ticks(), rtos_printf(), RTT::os::rtos_task_get_scheduler(), RTT::os::rtos_task_make_periodic(), and RTT::os::rtos_task_wait_period().

int rtos_cond_broadcast

(

rt_cond_t *

cond

)

Referenced by RTT::os::Condition::broadcast(), rtos_nanosleep(), and rtos_printf().

int rtos_cond_destroy

(

rt_cond_t *

cond

)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::Condition::~Condition().

int rtos_cond_init

(

rt_cond_t *

cond

)

Referenced by RTT::os::Condition::Condition(), rtos_nanosleep(), and rtos_printf().

int rtos_cond_timedwait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex,
		NANO_TIME	abs_time
	)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::Condition::wait_until().

int rtos_cond_wait	(	rt_cond_t *	cond,
		rt_mutex_t *	mutex
	)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::Condition::wait().

void rtos_disable_rt_warning

(

)

Disallows the RTOS to print a warning when we violate real-time constraints.

Referenced by rtos_printf().

void rtos_enable_rt_warning

(

)

Allows the RTOS to print a warning when we violate real-time constraints.

Referenced by rtos_printf().

NANO_TIME rtos_get_time_ns ( void  )

inline

Get "system" time in nanoseconds.

Definition at line 113 of file fosi.h.

References ticks2nano().

Referenced by RTT::os::Timer::arm(), RTT::os::TimeService::getNSecs(), RTT::os::Timer::loop(), rtos_get_time_ticks(), rtos_printf(), RTT::os::rtos_task_get_period(), RTT::os::rtos_task_get_scheduler(), RTT::os::rtos_task_wait_period(), RTT::os::Timer::startTimer(), RTT::os::ThreadWrapper(), RTT::os::Timer::timeRemaining(), and win32_nanosleep().

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

Get "system" time in ticks FIXME see https://proj.fmtc.be/orocos-bugzilla/show_bug.cgi?id=60

Definition at line 118 of file fosi.h.

References rtos_get_time_ns().

Referenced by RTT::os::TimeService::enableSystemClock(), RTT::os::TimeService::getTicks(), rtos_printf(), and RTT::os::rtos_task_make_periodic().

int rtos_mutex_destroy

(

rt_mutex_t *

m

)

Definition at line 305 of file fosi_internal.cpp.

Referenced by RTT::os::Mutex::~Mutex().

int rtos_mutex_init

(

rt_mutex_t *

m

)

Definition at line 298 of file fosi_internal.cpp.

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

int rtos_mutex_lock

(

rt_mutex_t *

m

)

Definition at line 314 of file fosi_internal.cpp.

Referenced by RTT::os::Mutex::lock().

int rtos_mutex_lock_until	(	rt_mutex_t *	m,
		NANO_TIME	abs_time
	)

Referenced by rtos_nanosleep(), and rtos_printf().

int rtos_mutex_rec_destroy

(

rt_rec_mutex_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::MutexRecursive::~MutexRecursive().

int rtos_mutex_rec_init

(

rt_rec_mutex_t *

m

)

Referenced by RTT::os::MutexRecursive::MutexRecursive(), rtos_nanosleep(), and rtos_printf().

int rtos_mutex_rec_lock

(

rt_rec_mutex_t *

m

)

Referenced by RTT::os::MutexRecursive::lock(), rtos_nanosleep(), and rtos_printf().

int rtos_mutex_rec_lock_until	(	rt_rec_mutex_t *	m,
		NANO_TIME	abs_time
	)

Referenced by rtos_nanosleep(), and rtos_printf().

int rtos_mutex_rec_trylock

(

rt_rec_mutex_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::MutexRecursive::trylock().

int rtos_mutex_rec_trylock_for	(	rt_rec_mutex_t *	m,
		NANO_TIME	relative_time
	)

Referenced by RTT::os::MutexRecursive::timedlock().

int rtos_mutex_rec_unlock

(

rt_rec_mutex_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::MutexRecursive::unlock().

int rtos_mutex_trylock

(

rt_mutex_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::Mutex::trylock().

int rtos_mutex_trylock_for	(	rt_mutex_t *	m,
		NANO_TIME	relative_time
	)

Referenced by RTT::os::Mutex::timedlock().

int rtos_mutex_unlock

(

rt_mutex_t *

m

)

Definition at line 322 of file fosi_internal.cpp.

Referenced by RTT::os::Mutex::unlock().

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().

int rtos_sem_destroy

(

rt_sem_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), RTT::os::Thread::Thread(), RTT::os::Semaphore::~Semaphore(), and RTT::os::Thread::~Thread().

int rtos_sem_init	(	rt_sem_t *	m,
		int	value
	)

All these should return zero in case of succes.

Their meaning is hopefully obvious

Referenced by rtos_nanosleep(), rtos_printf(), RTT::os::Semaphore::Semaphore(), and RTT::os::Thread::Thread().

int rtos_sem_signal

(

rt_sem_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), RTT::os::Thread::setPeriod(), RTT::os::Thread::setScheduler(), RTT::os::Semaphore::signal(), RTT::os::Thread::start(), RTT::os::Thread::terminate(), and RTT::os::thread_function().

int rtos_sem_trywait

(

rt_sem_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), and RTT::os::Semaphore::trywait().

int rtos_sem_value

(

rt_sem_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), RTT::os::Thread::start(), and RTT::os::Semaphore::value().

int rtos_sem_wait

(

rt_sem_t *

m

)

Referenced by rtos_nanosleep(), rtos_printf(), RTT::os::Thread::Thread(), RTT::os::thread_function(), and RTT::os::Semaphore::wait().

NANO_TIME ticks2nano ( TICK_TIME  count )

inline

Time conversions from system ticks to nano seconds.

Definition at line 107 of file fosi.h.

Referenced by rtos_get_time_ns(), rtos_printf(), and RTT::os::TimeService::ticks2nsecs().