RT::OS Namespace Reference

Data Structures
class	xbuffFifo
class	Fifo
class	evlFifo
class	posixFifo
class	xenomaiFifo
struct	Task

Functions
int	getFifo (std::unique_ptr< Fifo > &fifo, size_t fifo_size)
int	initiate (RT::OS::Task *task)
void	shutdown (RT::OS::Task *task)
void	deleteTask (Task *task)
int	setPeriod (Task *task, int64_t period)
int64_t	getPeriod ()
void	sleepTimestep (Task *task)
bool	isRealtime ()
int64_t	getTime ()
double	getCpuUsage ()
int	createTask (Task *task, void(*func)(void *), void *arg)
void	renameOSThread (std::thread &thread, const std::string &name)

Variables
const int64_t	SECONDS_TO_NANOSECONDS
const int64_t	DEFAULT_PERIOD = 1000000
const uint64_t	DEFAULT_FIFO_SIZE = 255
const size_t	PROCESSOR_COUNT = std::thread::hardware_concurrency()

Function Documentation

createTask()

int RT::OS::createTask	(	Task *	task,
		void(*)(void *)	func,
		void *	arg
	)

Creates a real-time task. This task will be associated with a system object to manage it.

Parameters

task	Object holding metadata for real-time task
entry	Callable function that will run the real-time loop
arg	Reference to RT::System object that will manage this real-time loop

Returns

0 if successful, -1 otherwise

Definition at line 86 of file rtos_evl.cpp.

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deleteTask()

void RT::OS::deleteTask

(

Task *

task

)

terminates task in real-time loop

Parameters

task	Task object holding metadata for real-time task

See also

RT::OS::createTask()

Definition at line 117 of file rtos_evl.cpp.

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getCpuUsage()

double RT::OS::getCpuUsage

(

)

Returns the percentage of Cpu being used by the Real-Time Thread. Should not be run from the real-time thread directly as this can cause high latency.

Returns

CPU_TIME Percentage of time the cpu is spent on real-time thread calculations. In multicore systems it is the percent of Cpu for the specific processor running the real-time task.

Definition at line 232 of file rt_os-xenomai.cpp.

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getFifo()

int RT::OS::getFifo	(	std::unique_ptr< Fifo > &	fifo,
		size_t	fifo_size
	)

Obtain the Fifo object for this architecture.

The Object Returned is a Fifo object that holds an implementation specific fifo/pipe.

Parameters

fifo	The fifo object to store the newly created fifo.
fifo_size	The size of the fifo to create

Returns

0 if successful, and errno otherwise.

Definition at line 194 of file fifo.cpp.

getPeriod()

int64_t RT::OS::getPeriod

(

)

Get the period for the real-time task

This function can only be called from a real-time context and will not function from other threads that are not real-time. It is meant to provide the real-time period to Thread/Device classes that require this value for their calculations in the real-time loop. Available inside execute().

Returns

Period of the realtime thread the calling function is runninng from, -1 otherwise.

See also

RT::OS::sleepTimestep

Definition at line 150 of file rtos_evl.cpp.

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getTime()

int64_t RT::OS::getTime

(

void

)

Returns the current CPU time in nanoseconds. In general this is really only useful for determining the time between two events.

Returns

The current CPU time.

Definition at line 186 of file rt_os-xenomai.cpp.

initiate()

int RT::OS::initiate

(

RT::OS::Task *

task

)

Initializes the real-time resources. This is done by locking memory Pages and storing real-time identification variables

Parameters

task	The real-time structure identifying the task

Returns

0 if successful, error code otherwise

See also

RT::OS::shutdown()

Definition at line 39 of file rtos_evl.cpp.

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isRealtime()

bool RT::OS::isRealtime

(

void

)

CHecks whether the calling thread is in real time. Important for functions that should not have access to real-time services else risk blocking the whole computer system.

Returns

true if the calling thread is real-time, false otherwise

Definition at line 179 of file rt_os-xenomai.cpp.

renameOSThread()

void RT::OS::renameOSThread	(	std::thread &	thread,
		const std::string &	name
	)

Renames a thread. This is useful for debugging and developer sanity

Parameters

thread	Standard thread object
name	String holding the name to assign to thread

Definition at line 175 of file rtos_evl.cpp.

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setPeriod()

int RT::OS::setPeriod	(	Task *	task,
		int64_t	period
	)

Set the period for the real-time task

Parameters

task	Object holding metadata for real-time task
period	The new period to set the real-time loop to

Returns

0 if successful, -1 otherwise

See also

RT::OS::sleepTimestep

Definition at line 144 of file rtos_evl.cpp.

shutdown()

void RT::OS::shutdown

(

RT::OS::Task *

task

)

Releases real-time resources from the operating system. Called when rtxi is closing.

Parameters

task	the real-time structure identifying the task

See also

RT::OS::initiate()

Definition at line 72 of file rtos_evl.cpp.

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sleepTimestep()

void RT::OS::sleepTimestep

(

Task *

task

)

Uses real-time core to sleep until the next periodic wakeup. It uses the timestep given in task to determine next waekup.

Parameters

task	Object holding the timestep data for the task

See also

RT::OS::setPeriod()

Definition at line 159 of file rtos_evl.cpp.

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Variable Documentation

DEFAULT_FIFO_SIZE

const uint64_t RT::OS::DEFAULT_FIFO_SIZE = 255

Definition at line 20 of file rtos.hpp.

DEFAULT_PERIOD

const int64_t RT::OS::DEFAULT_PERIOD = 1000000

Definition at line 19 of file rtos.hpp.

PROCESSOR_COUNT

const size_t RT::OS::PROCESSOR_COUNT = std::thread::hardware_concurrency()

Definition at line 21 of file rtos.hpp.

SECONDS_TO_NANOSECONDS

const int64_t RT::OS::SECONDS_TO_NANOSECONDS

Initial value:

=
1000000000

Definition at line 17 of file rtos.hpp.