[2] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | // created: 2012/10/04
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| 6 | // filename: Thread.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Abstract class for a thread
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Thread.h"
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| 19 | #include "Thread_impl.h"
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| 20 | #ifdef __XENO__
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| 21 | #include <native/timer.h>
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| 22 | #else
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| 23 | #include <sys/time.h>
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| 24 | #include <unistd.h>
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| 25 | #endif
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| 26 |
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| 27 | using std::string;
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| 28 |
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[15] | 29 | namespace flair {
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| 30 | namespace core {
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[2] | 31 |
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[213] | 32 | Thread::Thread(const Object *parent, string name, uint8_t priority,uint32_t stackSize)
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[15] | 33 | : Object(parent, name, "Thread") {
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[213] | 34 | pimpl_ = new Thread_impl(this, priority,stackSize);
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[2] | 35 | }
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| 36 |
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[15] | 37 | Thread::~Thread() { delete pimpl_; }
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[2] | 38 |
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[15] | 39 | void Thread::Start(void) { pimpl_->Start(); }
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[2] | 40 |
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[15] | 41 | void Thread::SafeStop(void) { pimpl_->SafeStop(); }
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[2] | 42 |
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[15] | 43 | bool Thread::ToBeStopped(void) const { return pimpl_->ToBeStopped(); }
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[2] | 44 |
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| 45 | #ifdef __XENO__
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[15] | 46 | void Thread::WarnUponSwitches(bool value) {
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| 47 | // Ask Xenomai to warn us upon switches to secondary mode.
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| 48 | if (value == true) {
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| 49 | rt_task_set_mode(0, T_WARNSW, NULL);
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| 50 | } else {
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| 51 | rt_task_set_mode(T_WARNSW, 0, NULL);
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| 52 | }
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[2] | 53 | }
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| 54 | #else
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[15] | 55 | void Thread::WarnUponSwitches(bool value) {
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| 56 | // Warn("Not applicable in non real time\n");
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[2] | 57 | }
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| 58 | #endif
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| 59 |
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[15] | 60 | void Thread::Join(void) { pimpl_->Join(); }
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[2] | 61 |
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[15] | 62 | void Thread::SetPeriodUS(uint32_t period) { pimpl_->SetPeriodUS(period); }
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[2] | 63 |
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[15] | 64 | uint32_t Thread::GetPeriodUS(void) const { return pimpl_->GetPeriodUS(); }
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[2] | 65 |
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[15] | 66 | void Thread::SetPeriodMS(uint32_t period) { pimpl_->SetPeriodMS(period); }
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[2] | 67 |
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[15] | 68 | uint32_t Thread::GetPeriodMS(void) const { return pimpl_->GetPeriodMS(); }
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[2] | 69 |
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[15] | 70 | bool Thread::IsPeriodSet(void) { return pimpl_->period_set; }
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[2] | 71 |
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[15] | 72 | void Thread::WaitPeriod(void) const { pimpl_->WaitPeriod(); }
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[2] | 73 |
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[15] | 74 | void Thread::Suspend(void) { pimpl_->Suspend(); }
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[2] | 75 |
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[15] | 76 | bool Thread::SuspendUntil(Time date) { return pimpl_->SuspendUntil(date); }
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[2] | 77 |
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[15] | 78 | bool Thread::IsSuspended(void) const { return pimpl_->IsSuspended(); }
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[2] | 79 |
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[139] | 80 | bool Thread::IsRunning(void) const { return pimpl_->isRunning; }
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| 81 |
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[15] | 82 | void Thread::Resume(void) { pimpl_->Resume(); }
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[2] | 83 |
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[15] | 84 | int Thread::WaitUpdate(const IODevice *device) {
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| 85 | return pimpl_->WaitUpdate(device);
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[2] | 86 | }
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| 87 |
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[15] | 88 | void Thread::SleepUntil(Time time) const {
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[2] | 89 | #ifdef __XENO__
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[15] | 90 | int status = rt_task_sleep_until(time);
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[133] | 91 | if (status != 0) {
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| 92 | char errorMsg[256];
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[202] | 93 | Err("%error rt_task_sleep_until (%s), resume time: %lld, actual time: "
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| 94 | "%lld\n",strerror_r(-status, errorMsg, sizeof(errorMsg)), time, GetTime());
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[133] | 95 | }
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[15] | 96 | // Printf("rt_task_sleep_until, resume time: %lld, actual time:
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| 97 | // %lld\n",time,GetTime());
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[2] | 98 | #else
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[15] | 99 | Time current = GetTime();
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[307] | 100 |
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[15] | 101 | if (current < time) {
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[202] | 102 | //usleep((time - current) / 1000);
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[307] | 103 | Time tmp=time - current;
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[202] | 104 | struct timespec req;
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[307] | 105 | req.tv_sec = tmp / (Time)1000000000;
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| 106 | req.tv_nsec = tmp%(Time)1000000000;
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[202] | 107 | struct timespec rem;
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| 108 | if(nanosleep(&req,&rem)!=0) Err("error in nanosleep\n");//todo, handle EINTR
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| 109 | } else {
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[252] | 110 | Err("error resume time (%lldns) is passed by %lldns\n",time, ( current-time));
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[15] | 111 | }
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[2] | 112 | #endif
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| 113 | }
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| 114 |
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[15] | 115 | void Thread::SleepMS(uint32_t time) const {
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[307] | 116 | SleepUS(time*1000);
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[2] | 117 | }
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| 118 |
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[15] | 119 | void Thread::SleepUS(uint32_t time) const {
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[2] | 120 | #ifdef __XENO__
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[15] | 121 | int status = rt_task_sleep(time * 1000);
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[133] | 122 | if (status != 0) {
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| 123 | char errorMsg[256];
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| 124 | Err("erreur rt_task_sleep (%s)\n", strerror_r(-status, errorMsg, sizeof(errorMsg)));
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| 125 | }
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[2] | 126 | #else
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[202] | 127 | //usleep(time);
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| 128 | struct timespec req;
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[313] | 129 | req.tv_sec = (Time)time / (Time)1000000;
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| 130 | req.tv_nsec = ((Time)time%(Time)1000000)*((Time)1000);
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[202] | 131 | struct timespec rem;
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| 132 | if(nanosleep(&req,&rem)!=0) Err("error in nanosleep\n");//todo, handle EINTR
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[2] | 133 | #endif
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| 134 | }
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| 135 |
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| 136 | } // end namespace core
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| 137 | } // end namespace flair
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