Orocos Real-Time Toolkit  2.6.0
IRQActivity.cpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  IRQActivity.cpp
00003 
00004                         IRQActivity.cpp -  description
00005                            -------------------
00006     begin                : Thu October 22 2009
00007     copyright            : (C) 2009 Peter Soetens
00008     email                : peter@thesourcworks.com
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,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #include "IRQActivity.hpp"
00040 #include "../ExecutionEngine.hpp"
00041 #include "../base/TaskCore.hpp"
00042 #include "../Logger.hpp"
00043 
00044 #include <iostream>
00045 
00046 using namespace RTT;
00047 using namespace extras;
00048 using namespace base;
00049 
00050 IRQActivity::IRQActivity(int priority, RunnableInterface* _r, const std::string& name )
00051     : Activity(priority, 0.0, _r, name)
00052     , m_irq(-1)
00053     , m_runner(_r) {}
00054 
00055 IRQActivity::IRQActivity(int scheduler, int priority, RunnableInterface* _r, const std::string& name )
00056     : Activity(scheduler, priority, 0.0, _r, name)
00057     , m_irq(-1)
00058     , m_runner(_r) {}
00059 
00060 IRQActivity::~IRQActivity()
00061 {
00062     stop();
00063 }
00064 
00065 int  IRQActivity::getIRQ() const { return m_irq; }
00066 void IRQActivity::setIRQ(int irq) { m_irq = irq; }
00067 
00068 #ifndef OROPKG_OS_XENOMAI
00069 bool IRQActivity::start() {
00070     Logger::log() << Logger::Error << "IRQActivity is only usable on Xenomai" << Logger::endl;
00071     return false;
00072 }
00073 #else
00074 
00075 #include <sys/select.h>
00076 #include <unistd.h>
00077 
00078 bool IRQActivity::start()
00079 {
00080     if (m_irq == -1)
00081     { // no FD explicitely set. Try to find one.
00082         ExecutionEngine* engine = dynamic_cast<ExecutionEngine*>(m_runner);
00083         if (engine)
00084         {
00085             Provider* provider = dynamic_cast<Provider*>(engine->getParent());
00086             if (provider)
00087                 m_irq = provider->getIRQ();
00088         }
00089     }
00090 
00091     if (m_irq == -1)
00092     {
00093         Logger::log() << Logger::Error << "no IRQ set for IRQActivity" << Logger::endl;
00094         return false;
00095     }
00096 
00097     char name[20];
00098     if (snprintf(name, 20, "IRQActivity%d", m_irq) >= 20)
00099     {
00100         Logger::log() << Logger::Error << "something is wrong with m_irq. Are you trying to do a buffer overflow ?" << strerror(errno) << Logger::endl;
00101         return false;
00102     }
00103 
00104     int ret = rt_intr_create(&m_handle, name, m_irq, 0);
00105     if (ret != 0)
00106     {
00107         Logger::log() << Logger::Error << "cannot create interrupt object for IRQ " << m_irq << ": " << strerror(-ret) << Logger::endl;
00108         return false;
00109     }
00110 
00111     if (! Activity::start())
00112     {
00113         rt_intr_delete(&m_handle);
00114         return false;
00115     }
00116 
00117     return true;
00118 }
00119 
00120 void IRQActivity::loop()
00121 {
00122     if (m_irq == -1)
00123         return;
00124 
00125     while(true)
00126     {
00127         if (rt_intr_wait(&m_handle, TM_INFINITE) > 0)
00128             step();
00129         else
00130             break;
00131         // {
00132         //     sleep(1);
00133         //     if (errno == -EIDRM) // interrupt handler has been deleted
00134         //         break;
00135         //     else
00136         //     {
00137         //         std::cout << "ERROR " << errno << std::endl;
00138         //         break;
00139         //     }
00140         // }
00141         // step();
00142     }
00143 }
00144 
00145 bool IRQActivity::breakLoop()
00146 {
00147     rt_intr_delete(&m_handle);
00148     return true;
00149 }
00150 
00151 void IRQActivity::step()
00152 {
00153     if (m_runner != 0)
00154         m_runner->step();
00155 }
00156 
00157 #endif // OS is xenomai
00158