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.

Defines
#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.
typedef long long	TICK_TIME
	OS representation of system ticks.
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.
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>
TICK_TIME	nano2ticks (NANO_TIME nano)
	Time conversions from nano seconds to system ticks.
NANO_TIME	ticks2nano (TICK_TIME count)
	Time conversions from system ticks to nano seconds.
int	rtos_sem_init (rt_sem_t *m, int value)
	All these should return zero in case of succes.
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_wait_timed (rt_sem_t *m, NANO_TIME delay)
int	rtos_sem_wait_until (rt_sem_t *m, NANO_TIME abs_time)
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_lock_until (rt_rec_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_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.
void	rtos_enable_rt_warning ()
	Allows the RTOS to print a warning when we violate real-time constraints.
void	rtos_disable_rt_warning ()
	Disallows the RTOS to print a warning when we violate real-time constraints.

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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.

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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 97 of file fosi.h.

void rtos_disable_rt_warning

(

)

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

void rtos_enable_rt_warning

(

)

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

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 RTT::os::Semaphore::Semaphore().