336 lines
6.8 KiB
C++
336 lines
6.8 KiB
C++
/*
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* Project: rtai_cpp - RTAI C++ Framework
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*
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* File: $Id: task.cc,v 1.4 2013/10/22 14:54:14 ando Exp $
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*
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* Copyright: (C) 2001,2002 Erwin Rol <erwin@muffin.org>
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*
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* Licence:
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#include "task.h"
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#include "iostream.h"
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#include "tld_key.h"
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#include <asm/rtai.h>
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#include <rtai_registry.h>
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#include <rtai_wrapper.h>
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extern "C" {
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// OK, this is _ugly_, int casting to this* is even
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// worse than casting a void* to a this* (like with pthreads)
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void entry_point(int this_pointer){
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RTAI::Task* This = (RTAI::Task*)this_pointer;
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This->run();
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}
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}
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void signal_handler(){
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#if 0
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RTAI::Task* This = RTAI::Task::self();
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This->signal_handler();
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#endif
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}
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namespace RTAI {
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void get_global_lock(void){
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__rt_get_global_lock();
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}
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void release_global_lock(void){
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__rt_release_global_lock();
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}
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int hard_cpu_id(void){
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return hard_cpu_id();
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}
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int assign_irq_to_cpu(int irq, unsigned long cpus_mask){
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return rt_assign_irq_to_cpu(irq,cpus_mask);
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}
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int reset_irq_to_sym_mode(int irq){
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return rt_reset_irq_to_sym_mode(irq);
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}
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void set_oneshot_mode(void){
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rt_set_oneshot_mode();
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}
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void set_periodic_mode(void){
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rt_set_periodic_mode();
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}
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Count start_timer(void){
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return Count( start_rt_timer(0) );
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}
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Count start_timer(const Count& period){
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return Count( start_rt_timer( period ) );
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}
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void stop_timer(void){
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stop_rt_timer();
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}
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void linux_use_fpu(bool use_fpu_flag){
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rt_linux_use_fpu(use_fpu_flag);
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}
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void preempt_always(bool yes_no){
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rt_preempt_always(yes_no);
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}
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void preempt_always_cpuid(bool yes_no, unsigned int cpu_id){
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rt_preempt_always_cpuid(yes_no,cpu_id);
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}
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/////////////////////////////////////////////
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// class RTAI::Task
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//
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Task::Task(){
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std::cerr << "Task::Task() " << (void*)this << std::endl;
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m_TaskOwner = false;
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m_Named = false;
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m_Task = 0;
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for(int n=0; n < CONFIG_RTAI_CPUS;n++)
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m_CpuUse[n] = 0;
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}
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Task::~Task(){
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std::cerr << "Task::~Task() " << (void*)this << std::endl;
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if(m_Task != 0)
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{
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if( m_TaskOwner ){
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if( m_Named){
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rt_named_task_delete(m_Task);
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} else {
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rt_task_delete(m_Task);
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}
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}
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}
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}
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Task::Task(int stack_size,
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int priority,
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bool uses_fpu,
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bool use_signal,
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unsigned int cpuid)
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{
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std::cerr << "Task::Task(...) " << (void*)this << std::endl;
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m_TaskOwner = true;
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m_Named = false;
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m_Task = 0;
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for(int n=0; n < CONFIG_RTAI_CPUS;n++)
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m_CpuUse[n] = 0;
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init(stack_size,priority,uses_fpu,use_signal,cpuid);
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}
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Task::Task(const char* name,
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int stack_size,
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int priority,
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bool uses_fpu,
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bool use_signal,
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unsigned int cpuid)
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{
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std::cerr << "Task::Task(...) " << (void*)this << std::endl;
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m_Named = true;
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m_TaskOwner = true;
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m_Task = 0;
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for(int n=0; n < CONFIG_RTAI_CPUS;n++)
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m_CpuUse[n] = 0;
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init(name,stack_size,priority,uses_fpu,use_signal,cpuid);
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}
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Task::Task(const char* name )
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{
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std::cerr << "Task::Task(...) " << (void*)this << std::endl;
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m_Named = true;
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m_TaskOwner = false;
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m_Task = 0;
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for(int n=0; n < CONFIG_RTAI_CPUS;n++)
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m_CpuUse[n] = 0;
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init( name );
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}
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bool Task::init(int stack_size,
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int priority,
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bool uses_fpu,
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bool use_signal,
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unsigned int cpuid)
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{
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rt_printk("Task::init(...) %p\n",this);
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if(m_Task != 0)
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return false;
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m_Named = false;
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m_TaskOwner = true;
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if(stack_size == 0)
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stack_size = 1024*4;
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if(use_signal)
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rt_task_init(m_Task, ::entry_point,(int)this,
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stack_size,priority,uses_fpu,::signal_handler);
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else
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rt_task_init(m_Task, ::entry_point,(int)this,
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stack_size,priority,uses_fpu,0);
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return true;
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}
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bool Task::init(const char* name,
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int stack_size,
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int priority,
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bool uses_fpu,
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bool use_signal,
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unsigned int cpuid)
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{
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rt_printk("Task::init(...) %p\n",this);
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if(m_Task != 0)
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return false;
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m_Named = true;
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m_TaskOwner = true;
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if(stack_size == 0)
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stack_size = 1024*4;
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if(use_signal)
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m_Task = rt_named_task_init(name, ::entry_point,(int)this,
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stack_size,priority,uses_fpu,::signal_handler);
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else
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m_Task = rt_named_task_init(name, ::entry_point,(int)this,
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stack_size,priority,uses_fpu,0);
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if( m_Task == 0)
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return false;
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return true;
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}
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bool Task::init(const char* name)
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{
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rt_printk("Task::init(...) %p\n",this);
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if(m_Task != 0)
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return false;
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m_Named = true;
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m_TaskOwner = false;
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unsigned long num = nam2num(name);
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if( rt_get_type( num ) == IS_TASK ){
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m_Task = static_cast<RT_TASK*>( rt_get_adr( num ) );
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}
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if( m_Task == 0)
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return false;
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return true;
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}
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#if 0
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Task* Task::self(){
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struct rt_task_struct* task = rt_whoami();
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if(task == 0)
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return 0;
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return (Task*)__rt_tld_get_data(task,cpp_key);
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}
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#endif
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void Task::suspend(){
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rt_task_suspend(m_Task);
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}
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void Task::resume(){
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rt_task_resume(m_Task);
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}
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void Task::yield(){
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rt_task_yield();
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}
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int Task::make_periodic(const Count& start_time, const Count& period){
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return rt_task_make_periodic(m_Task,start_time, period );
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}
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int Task::make_periodic_relative(const Time& start_delay, const Time& period){
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return rt_task_make_periodic_relative_ns(m_Task,start_delay, period);
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}
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void Task::set_runnable_on_cpus(unsigned int cpu_mask){
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rt_set_runnable_on_cpus(m_Task,cpu_mask);
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}
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void Task::set_runnable_on_cpuid(unsigned int cpuid){
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rt_set_runnable_on_cpuid(m_Task,cpuid);
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}
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void Task::wait_period(){
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rt_task_wait_period();
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}
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void Task::busy_sleep(const Time& time){
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rt_busy_sleep((long long)time);
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}
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void Task::sleep(const Count& delay){
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rt_sleep( delay );
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}
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void Task::sleep_until(const Count& count){
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rt_sleep_until( count );
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}
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int Task::use_fpu(bool use_fpu_flag){
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return rt_task_use_fpu(m_Task,use_fpu_flag);
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}
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bool Task::is_valid(){
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return (m_Task != 0);
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}
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void Task::inc_cpu_use(){
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m_CpuUse[ RTAI::hard_cpu_id() ]++;
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}
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void Task::dump_cpu_use()
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{
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int cpuid;
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// Output some statistics about CPU usage
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std::cerr << "\n\nCPU USE SUMMARY\n";
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for (cpuid = 0; cpuid < CONFIG_RTAI_CPUS; cpuid++) {
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std::cerr << "# " << cpuid << " -> " << m_CpuUse[ cpuid ] << std::endl;
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}
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std::cerr << "END OF CPU USE SUMMARY\n\n";
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}
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}; // namespace RTAI
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