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Orocos Real-Time Toolkit
2.6.0
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00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jun 26 13:25:56 CEST 2006 fosi_internal_interface.h 00003 00004 fosi_internal_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 00039 00047 #ifndef OS_FOSI_INTERNAL_INTERFACE_HPP 00048 #define OS_FOSI_INTERNAL_INTERFACE_HPP 00049 00050 #include "ThreadInterface.hpp" 00051 #include "fosi.h" 00052 00053 namespace RTT { 00054 namespace os { 00064 int rtos_task_create_main(RTOS_TASK* main_task); 00065 00072 int rtos_task_delete_main(RTOS_TASK* main_task); 00073 00092 int rtos_task_create(RTOS_TASK* task, 00093 int priority, 00094 unsigned cpu_affinity, 00095 const char * name, 00096 int sched_type, 00097 size_t stack_size, 00098 void * (*start_routine)(void *), 00099 ThreadInterface* obj); 00100 00105 void rtos_task_yield(RTOS_TASK* task); 00106 00113 unsigned int rtos_task_get_pid(const RTOS_TASK* task); 00114 00130 int rtos_task_set_scheduler(RTOS_TASK* t, int sched_type); 00131 00138 int rtos_task_get_scheduler(const RTOS_TASK* t); 00139 00151 void rtos_task_make_periodic(RTOS_TASK* mytask, NANO_TIME nanosecs ); 00152 00164 void rtos_task_set_period( RTOS_TASK* mytask, NANO_TIME nanosecs ); 00165 00171 void rtos_task_set_wait_period_policy( RTOS_TASK* task, int policy ); 00172 00180 int rtos_task_wait_period( RTOS_TASK* task ); 00181 00188 void rtos_task_delete(RTOS_TASK* mytask); 00189 00198 int rtos_task_check_scheduler(int* sched_type); 00199 00210 int rtos_task_check_priority(int* sched_type, int* priority); 00211 00218 int rtos_task_set_priority(RTOS_TASK * task,int priority); 00219 00225 int rtos_task_get_priority(const RTOS_TASK * task); 00226 00235 int rtos_task_set_cpu_affinity(RTOS_TASK * task,unsigned cpu_affinity); 00236 00242 unsigned rtos_task_get_cpu_affinity(const RTOS_TASK * task); 00243 00249 const char * rtos_task_get_name(const RTOS_TASK* task); 00250 00258 int rtos_task_is_self(const RTOS_TASK* task); 00259 } 00260 } 00261 #endif
1.7.6.1