Orocos Real-Time Toolkit  2.9.0
fosi_internal_interface.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Mon Jun 26 13:25:56 CEST 2006 fosi_internal_interface.h
3 
4  fosi_internal_interface.h - description
5  -------------------
6  begin : Mon June 26 2006
7  copyright : (C) 2006 Peter Soetens
8  email : peter.soetens@fmtc.be
9 
10  ***************************************************************************
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22  * License. This exception does not however invalidate any other *
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36  ***************************************************************************/
37 
38 
39 
47 #ifndef OS_FOSI_INTERNAL_INTERFACE_HPP
48 #define OS_FOSI_INTERNAL_INTERFACE_HPP
49 
50 #include "ThreadInterface.hpp"
51 #include "fosi.h"
52 
53 namespace RTT {
54  namespace os {
64  int rtos_task_create_main(RTOS_TASK* main_task);
65 
72  int rtos_task_delete_main(RTOS_TASK* main_task);
73 
92  int rtos_task_create(RTOS_TASK* task,
93  int priority,
94  unsigned cpu_affinity,
95  const char * name,
96  int sched_type,
97  size_t stack_size,
98  void * (*start_routine)(void *),
99  ThreadInterface* obj);
100 
105  void rtos_task_yield(RTOS_TASK* task);
106 
113  unsigned int rtos_task_get_pid(const RTOS_TASK* task);
114 
130  int rtos_task_set_scheduler(RTOS_TASK* t, int sched_type);
131 
138  int rtos_task_get_scheduler(const RTOS_TASK* t);
139 
151  void rtos_task_make_periodic(RTOS_TASK* mytask, NANO_TIME nanosecs );
152 
164  void rtos_task_set_period( RTOS_TASK* mytask, NANO_TIME nanosecs );
165 
171  void rtos_task_set_wait_period_policy( RTOS_TASK* task, int policy );
172 
180  int rtos_task_wait_period( RTOS_TASK* task );
181 
188  void rtos_task_delete(RTOS_TASK* mytask);
189 
198  int rtos_task_check_scheduler(int* sched_type);
199 
210  int rtos_task_check_priority(int* sched_type, int* priority);
211 
218  int rtos_task_set_priority(RTOS_TASK * task,int priority);
219 
225  int rtos_task_get_priority(const RTOS_TASK * task);
226 
235  int rtos_task_set_cpu_affinity(RTOS_TASK * task,unsigned cpu_affinity);
236 
242  unsigned rtos_task_get_cpu_affinity(const RTOS_TASK * task);
243 
249  const char * rtos_task_get_name(const RTOS_TASK* task);
250 
258  int rtos_task_is_self(const RTOS_TASK* task);
259  }
260 }
261 #endif
int rtos_task_is_self(const RTOS_TASK *task)
Returns 1 when task is the task struct of the thread calling this function, 0 otherwise.
long long NANO_TIME
Definition: fosi.h:55
int rtos_task_get_priority(const RTOS_TASK *task)
Return the priority of a thread.
INTERNAL_QUAL void rtos_task_make_periodic(RTOS_TASK *mytask, NANO_TIME nanosecs)
This function is to inform the RTOS that a thread is switching between periodic or non-periodic execu...
INTERNAL_QUAL int rtos_task_check_priority(int *scheduler, int *priority)
This function checks (and corrects) a given priority within a given scheduler type.
unsigned int rtos_task_get_pid(const RTOS_TASK *task)
Returns the process ID the OS gave to the task task.
INTERNAL_QUAL int rtos_task_delete_main(RTOS_TASK *main_task)
Cleanup the main thread.
int rtos_task_set_scheduler(RTOS_TASK *t, int sched_type)
Set the scheduler of a given task t to a the type sched_type.
int rtos_task_set_cpu_affinity(RTOS_TASK *task, unsigned cpu_affinity)
Set the cpu affinity of a thread.
unsigned rtos_task_get_cpu_affinity(const RTOS_TASK *task)
Return the cpu affinity of a thread.
void rtos_task_set_wait_period_policy(RTOS_TASK *task, int policy)
Set the wait policy of a thread.
void rtos_task_delete(RTOS_TASK *mytask)
This function must join the thread created with rtos_task_create and then clean up the RTOS_TASK stru...
int rtos_task_set_priority(RTOS_TASK *task, int priority)
Set the priority of a thread.
const char * rtos_task_get_name(const RTOS_TASK *task)
Returns the name by which a task is known in the RTOS.
int rtos_task_check_scheduler(int *sched_type)
This function checks (and corrects) if the given sched_type is valid for this RTOS.
int rtos_task_wait_period(RTOS_TASK *task)
This function is called by a periodic thread which wants to go to sleep and wake up the next period...
INTERNAL_QUAL void rtos_task_yield(RTOS_TASK *)
Yields the current thread.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
INTERNAL_QUAL int rtos_task_create_main(RTOS_TASK *main_task)
Initialise the main thread.
void rtos_task_set_period(RTOS_TASK *mytask, NANO_TIME nanosecs)
Change the period of a periodic RTOS task.
Definition: fosi.h:62
INTERNAL_QUAL int rtos_task_create(RTOS_TASK *task, int priority, unsigned cpu_affinity, const char *name, int sched_type, size_t stack_size, void *(*start_routine)(void *), ThreadInterface *obj)
Create a thread.
int rtos_task_get_scheduler(const RTOS_TASK *t)
Returns the current scheduler set for task t.