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Orocos Real-Time Toolkit
2.5.0
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00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jun 26 13:25:56 CEST 2006 fosi_interface.h 00003 00004 fosi_interface.h - description 00005 ------------------- 00006 begin : Mon June 26 2006 00007 copyright : (C) 2006 Peter Soetens 00008 email : peter.soetens@fmtc.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00047 #ifndef ORO_FOSI_INTERFACE_H 00048 #define ORO_FOSI_INTERFACE_H 00049 00050 #error "This file is a template for developers, do not include directly." 00051 00052 #ifdef __cplusplus 00053 extern "C" 00054 { 00055 #endif 00056 00057 struct MyTask; 00058 typedef struct MyTask RTOS_TASK; 00059 00060 // include 'atomic' functions, 00061 // depends on processor target, not OS. 00062 #include "oro_arch.h" 00063 00064 #define ORO_SCHED_RT 0 00065 #define ORO_SCHED_OTHER 1 00070 typedef long long NANO_TIME; 00071 00074 typedef long long TICK_TIME; 00075 00079 NANO_TIME rtos_get_time_ns( void ); 00080 00085 TICK_TIME rtos_get_time_ticks (void ); 00086 00090 TICK_TIME nano2ticks( NANO_TIME nano ); 00094 NANO_TIME ticks2nano( TICK_TIME count ); 00095 00096 // Semaphore functions 00097 typedef struct sem_struct rt_sem_t; 00101 int rtos_sem_init(rt_sem_t* m, int value ); 00102 int rtos_sem_destroy(rt_sem_t* m ); 00103 int rtos_sem_signal(rt_sem_t* m ); 00104 int rtos_sem_wait(rt_sem_t* m ); 00105 int rtos_sem_trywait(rt_sem_t* m ); 00106 int rtos_sem_wait_timed(rt_sem_t* m, NANO_TIME delay ); 00107 int rtos_sem_wait_until(rt_sem_t* m, NANO_TIME abs_time ); 00108 int rtos_sem_value(rt_sem_t* m ); 00109 00110 // Mutex and recursive mutex functions 00111 typedef struct mutex_struct rt_mutex_t; 00112 typedef struct recursive_mutex_struct rt_rec_mutex_t; 00113 00114 int rtos_mutex_init(rt_mutex_t* m); 00115 int rtos_mutex_destroy(rt_mutex_t* m ); 00116 int rtos_mutex_rec_init(rt_rec_mutex_t* m); 00117 int rtos_mutex_rec_destroy(rt_rec_mutex_t* m ); 00118 int rtos_mutex_lock( rt_mutex_t* m); 00119 int rtos_mutex_trylock( rt_mutex_t* m); 00120 int rtos_mutex_lock_until( rt_rec_mutex_t* m, NANO_TIME abs_time); 00121 int rtos_mutex_unlock( rt_mutex_t* m); 00122 int rtos_mutex_rec_lock( rt_rec_mutex_t* m); 00123 int rtos_mutex_rec_trylock( rt_rec_mutex_t* m); 00124 int rtos_mutex_rec_lock_until( rt_rec_mutex_t* m, NANO_TIME abs_time); 00125 int rtos_mutex_rec_unlock( rt_rec_mutex_t* m); 00126 00127 // Condition variables must support waiting, timed waiting and broadcasting. 00128 typedef struct cond_struct rt_cond_t; 00129 int rtos_cond_init(rt_cond_t *cond); 00130 int rtos_cond_destroy(rt_cond_t *cond); 00131 int rtos_cond_wait(rt_cond_t *cond, rt_mutex_t *mutex); 00132 int rtos_cond_timedwait(rt_cond_t *cond, rt_mutex_t *mutex, NANO_TIME abs_time); 00133 int rtos_cond_broadcast(rt_cond_t *cond); 00134 00138 int rtos_printf( const char *fmt, ... ); 00139 00141 void rtos_enable_rt_warning(); 00143 void rtos_disable_rt_warning(); 00144 00145 #ifdef __cplusplus 00146 } 00147 #endif 00148 00149 #endif // ORO_FOSI_INTERFACE_H
1.7.6.1