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/* This is a component of LinuxCNC
* Copyright 2014 Jeff Epler <jepler@unpythonic.net>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#ifndef RTAPI_USPACE_HH
#define RTAPI_USPACE_HH
#ifdef __linux__
#include <sys/fsuid.h>
#endif
#include <unistd.h>
#include <pthread.h>
#include <atomic>
inline void rtapi_timespec_add(timespec &result, const timespec &ta, const timespec &tb) {
result.tv_sec = ta.tv_sec + tb.tv_sec;
result.tv_nsec = ta.tv_nsec + tb.tv_nsec;
if (result.tv_nsec >= 1000000000) {
result.tv_sec++;
result.tv_nsec -= 1000000000;
}
}
inline bool rtapi_timespec_less(const struct timespec &ta, const struct timespec &tb) {
if(ta.tv_sec < tb.tv_sec) return 1;
if(ta.tv_sec > tb.tv_sec) return 0;
return ta.tv_nsec < tb.tv_nsec;
}
void rtapi_timespec_advance(struct timespec &result, const struct timespec &src, unsigned long nsec);
struct WithRoot
{
WithRoot();
~WithRoot();
static std::atomic<int> level;
};
struct rtapi_task {
rtapi_task();
int magic; /* to check for valid handle */
int id;
int owner;
int uses_fp;
size_t stacksize;
int prio;
long period;
struct timespec nextstart;
unsigned ratio;
long pll_correction;
long pll_correction_limit;
void *arg;
void (*taskcode) (void*); /* pointer to task function */
};
struct RtapiApp
{
RtapiApp(int policy = SCHED_OTHER) : policy(policy), period(0) {}
virtual int prio_highest() const;
virtual int prio_lowest() const;
int prio_higher_delta() const;
int prio_bound(int prio) const;
int prio_next_higher(int prio) const;
int prio_next_lower(int prio) const;
long clock_set_period(long int period_nsec);
int task_new(void (*taskcode)(void*), void *arg,
int prio, int owner, unsigned long int stacksize, int uses_fp);
virtual rtapi_task *do_task_new() = 0;
static int allocate_task_id();
static struct rtapi_task *get_task(int task_id);
void unexpected_realtime_delay(rtapi_task *task, int nperiod=1);
virtual int task_delete(int id) = 0;
virtual int task_start(int task_id, unsigned long period_nsec) = 0;
virtual int task_pause(int task_id) = 0;
virtual int task_resume(int task_id) = 0;
virtual int task_self() = 0;
virtual long long task_pll_get_reference(void) = 0;
virtual int task_pll_set_correction(long value) = 0;
virtual void wait() = 0;
virtual unsigned char do_inb(unsigned int port) = 0;
virtual void do_outb(unsigned char value, unsigned int port) = 0;
virtual int run_threads(int fd, int (*callback)(int fd)) = 0;
virtual long long do_get_time(void) = 0;
virtual void do_delay(long ns) = 0;
int policy;
long period;
};
template<class T=rtapi_task>
T *rtapi_get_task(int task_id) {
return static_cast<T*>(RtapiApp::get_task(task_id));
}
#define MAX_TASKS 64
#define TASK_MAGIC 21979 /* random numbers used as signatures */
#define TASK_MAGIC_INIT ((rtapi_task*)(-1))
extern struct rtapi_task *task_array[MAX_TASKS];
#define WITH_ROOT WithRoot root
#endif
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