Orocos Real-Time Toolkit  2.6.0
IRQActivity.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  IRQActivity.hpp
00003 
00004                         IRQActivity.hpp -  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  *                                                                         *
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00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
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00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef IRQ_ACTIVITY_HPP
00040 #define IRQ_ACTIVITY_HPP
00041 
00042 #include "../Activity.hpp"
00043 #include "../rtt-config.h"
00044 
00045 #ifdef OROPKG_OS_XENOMAI
00046 #include <native/intr.h>
00047 #else
00048 // Provide a dump RT_INTR type. start() always returns false on non-Xenomai
00049 // OSes.
00050 struct RT_INTR { };
00051 #ifndef RTT_DLL_EXPORT
00052 #ifdef _MSC_VER
00053     #pragma message( "IRQActivity is available only on Xenomai. It will fail on startup")
00054 #else
00055 #warning "IRQActivity is available only on Xenomai. It will fail on startup"
00056 #endif
00057 #endif
00058 #endif
00059 
00060 namespace RTT { namespace extras {
00061 
00073     class RTT_API IRQActivity : public Activity
00074     {
00075         int      m_irq;
00076         RT_INTR  m_handle;
00077         base::RunnableInterface* m_runner;
00078 
00079     public:
00086         struct Provider {
00087             virtual int getIRQ() const = 0;
00088         };
00089 
00098         IRQActivity(int priority, base::RunnableInterface* _r = 0, const std::string& name ="IRQActivity" );
00099 
00109         IRQActivity(int scheduler, int priority, base::RunnableInterface* _r = 0, const std::string& name ="IRQActivity" );
00110 
00111         virtual ~IRQActivity();
00112 
00113         int  getIRQ() const;
00114         void setIRQ(int irq);
00115 
00116         virtual bool start();
00117 #ifdef OROPKG_OS_XENOMAI
00118         virtual void loop();
00119         virtual bool breakLoop();
00120         virtual void step();
00121 #endif
00122     };
00123 }}
00124 
00125 #endif