File os_interface.hpp

Author

Manuel Wuthrich (manuel.wuthrich@gmail.com)

Author

Maximilien Naveau (maximilien.naveau@gmail.com)

Version

0.1

Date

2018-11-27

Copyright

Copyright (c) 2018

Defines

rt_fprintf

Create a common type_def to wrap xenomai and posix.

rt_printf

Create a common type_def to wrap xenomai and posix.

rt_dev_socket

Create a common type_def to wrap xenomai and posix.

rt_dev_ioctl

Create a common type_def to wrap xenomai and posix.

rt_dev_close

Create a common type_def to wrap xenomai and posix.

rt_dev_setsockopt

Create a common type_def to wrap xenomai and posix.

rt_dev_bind

Create a common type_def to wrap xenomai and posix.

rt_dev_recvmsg

Create a common type_def to wrap xenomai and posix.

rt_dev_sendto

Create a common type_def to wrap xenomai and posix.

Typedefs

typedef struct can_frame can_frame_t

xeno specific include

Define typedefs to make code compatible with Xenomai code.

Create a common type_def to wrap xenomai and posix.

typedef canid_t can_id_t

Create a common type_def to wrap xenomai and posix.

typedef uint64_t nanosecs_abs_t

Create a common type_def to wrap xenomai and posix.

namespace osi

Common include.

osi stands for Operating System Interface.

Todo:

This workspace should be replaced eventually by the real_time_tools package.

Typedefs

typedef std::mutex Mutex

Wrapper around the posix specific Mutex implementation.

typedef std::condition_variable ConditionVariable

Wrapper around the posix specific ConditionVariable implementation.

Functions

inline void send_to_can_device(int fd, const void *buf, size_t len, int flags, const struct sockaddr *to, socklen_t tolen)

Use the osi workspace API to communicate with the can bus.

/todo Manuel can you describe the argument of this function?

Parameters

  • fd –

  • buf –

  • len –

  • flags –

  • to –

  • tolen –

inline void close_can_device(int socket)

This function is closing a socket on the Can device.

It is os independent.

Parameters

socket –

inline void receive_message_from_can_device(int fd, struct msghdr *msg, int flags)

Poll? a message from the CAN device.

Todo:

Manuel can you confrim this? And precise the arguments of the function?

Parameters

  • fd –

  • msg –

  • flags –

inline void initialize_realtime_printing()

This function is needed in xenomai to initialize the real time console display of text.

inline void sleep_ms(const double &sleep_time_ms)

This function uses eather the xenomai API or the posix one.

Parameters

sleep_time_ms – is the sleeping time in milli seconds.

inline double get_current_time_ms()

Get the current time in millisecond.

Todo:

remove as the one form the Timer class is much better embeded.

Returns

double which is the time in milli second

inline void make_this_thread_realtime()

This methd is requiered in xenomai to create a real time thread.