author | Edouard Tisserant |
Wed, 13 Jun 2012 19:08:58 +0200 | |
changeset 739 | 4faa0bb578e0 |
parent 663 | 70fc3603e36f |
child 793 | 72e9e1064432 |
permissions | -rw-r--r-- |
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#include <stdlib.h> |
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#include <sys/time.h> |
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#include <pthread.h> |
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#include <signal.h> |
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#include <time.h> |
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#include "applicfg.h" |
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#include "timer.h" |
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static pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER; |
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static struct timeval last_sig; |
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static timer_t timer; |
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void TimerCleanup(void) |
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{ |
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/* only used in realtime apps */ |
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} |
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void EnterMutex(void) |
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{ |
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if(pthread_mutex_lock(&CanFestival_mutex)) { |
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fprintf(stderr, "pthread_mutex_lock() failed\n"); |
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} |
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} |
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void LeaveMutex(void) |
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{ |
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if(pthread_mutex_unlock(&CanFestival_mutex)) { |
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fprintf(stderr, "pthread_mutex_unlock() failed\n"); |
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} |
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} |
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e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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diff
changeset
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void timer_notify(sigval_t val) |
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{ |
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if(gettimeofday(&last_sig,NULL)) { |
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perror("gettimeofday()"); |
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} |
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EnterMutex(); |
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TimeDispatch(); |
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LeaveMutex(); |
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// printf("getCurrentTime() return=%u\n", p.tv_usec); |
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} |
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void TimerInit(void) |
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{ |
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struct sigevent sigev; |
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// Take first absolute time ref. |
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if(gettimeofday(&last_sig,NULL)){ |
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perror("gettimeofday()"); |
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} |
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607
5fec528f66cf
create specific timer thread for UCLIBC support (with CLOCK_PROCESS_CPUTIME_ID parameter)
greg
parents:
540
diff
changeset
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#if defined(__UCLIBC__) |
5fec528f66cf
create specific timer thread for UCLIBC support (with CLOCK_PROCESS_CPUTIME_ID parameter)
greg
parents:
540
diff
changeset
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int ret; |
5fec528f66cf
create specific timer thread for UCLIBC support (with CLOCK_PROCESS_CPUTIME_ID parameter)
greg
parents:
540
diff
changeset
|
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ret = timer_create(CLOCK_PROCESS_CPUTIME_ID, NULL, &timer); |
5fec528f66cf
create specific timer thread for UCLIBC support (with CLOCK_PROCESS_CPUTIME_ID parameter)
greg
parents:
540
diff
changeset
|
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signal(SIGALRM, timer_notify); |
5fec528f66cf
create specific timer thread for UCLIBC support (with CLOCK_PROCESS_CPUTIME_ID parameter)
greg
parents:
540
diff
changeset
|
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#else |
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memset (&sigev, 0, sizeof (struct sigevent)); |
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sigev.sigev_value.sival_int = 0; |
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sigev.sigev_notify = SIGEV_THREAD; |
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sigev.sigev_notify_attributes = NULL; |
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sigev.sigev_notify_function = timer_notify; |
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if(timer_create (CLOCK_REALTIME, &sigev, &timer)) { |
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perror("timer_create()"); |
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} |
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607
5fec528f66cf
create specific timer thread for UCLIBC support (with CLOCK_PROCESS_CPUTIME_ID parameter)
greg
parents:
540
diff
changeset
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#endif |
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} |
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void StopTimerLoop(TimerCallback_t exitfunction) |
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{ |
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EnterMutex(); |
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if(timer_delete (timer)) { |
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perror("timer_delete()"); |
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} |
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exitfunction(NULL,0); |
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LeaveMutex(); |
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} |
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void StartTimerLoop(TimerCallback_t init_callback) |
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{ |
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EnterMutex(); |
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// At first, TimeDispatch will call init_callback. |
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SetAlarm(NULL, 0, init_callback, 0, 0); |
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LeaveMutex(); |
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} |
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507
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
changeset
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void canReceiveLoop_signal(int sig) |
c613e6cd34fa
Added more correct signal handling to unix timers.
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{ |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
changeset
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} |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
changeset
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/* We assume that ReceiveLoop_task_proc is always the same */ |
508
08adb8d4b098
Added more correct signal handling to unix timers.
etisserant
parents:
507
diff
changeset
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static void (*unixtimer_ReceiveLoop_task_proc)(CAN_PORT) = NULL; |
507
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
changeset
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c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
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diff
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/** |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
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* Enter in realtime and start the CAN receiver loop |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
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diff
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* @param port |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
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diff
changeset
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*/ |
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void* unixtimer_canReceiveLoop(void* port) |
507
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
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diff
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{ |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
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diff
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/*get signal*/ |
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// if(signal(SIGTERM, canReceiveLoop_signal) == SIG_ERR) { |
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// perror("signal()"); |
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//} |
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unixtimer_ReceiveLoop_task_proc((CAN_PORT)port); |
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return NULL; |
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507
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
changeset
|
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} |
c613e6cd34fa
Added more correct signal handling to unix timers.
etisserant
parents:
454
diff
changeset
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145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
48
diff
changeset
|
112 |
void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr) |
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{ |
508
08adb8d4b098
Added more correct signal handling to unix timers.
etisserant
parents:
507
diff
changeset
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unixtimer_ReceiveLoop_task_proc = ReceiveLoopPtr; |
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if(pthread_create(Thread, NULL, unixtimer_canReceiveLoop, (void*)port)) { |
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perror("pthread_create()"); |
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} |
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} |
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401
2c90876b9751
Fixed segfault on quit with Xenomai, due to bat parameter type in waitReceiveTaskEnd.
etisserant
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diff
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void WaitReceiveTaskEnd(TASK_HANDLE *Thread) |
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{ |
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if(pthread_kill(*Thread, SIGTERM)) { |
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perror("pthread_kill()"); |
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} |
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if(pthread_join(*Thread, NULL)) { |
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perror("pthread_join()"); |
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} |
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} |
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adc6572caf5d
minval/maxval macro operators precedence fix. Thanks Luis Jim?nez.
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#define maxval(a,b) ((a>b)?a:b) |
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void setTimer(TIMEVAL value) |
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{ |
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// printf("setTimer(TIMEVAL value=%d)\n", value); |
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// TIMEVAL is us whereas setitimer wants ns... |
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long tv_nsec = 1000 * (maxval(value,1)%1000000); |
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time_t tv_sec = value/1000000; |
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struct itimerspec timerValues; |
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timerValues.it_value.tv_sec = tv_sec; |
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timerValues.it_value.tv_nsec = tv_nsec; |
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timerValues.it_interval.tv_sec = 0; |
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timerValues.it_interval.tv_nsec = 0; |
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timer_settime (timer, 0, &timerValues, NULL); |
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} |
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TIMEVAL getElapsedTime(void) |
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{ |
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struct timeval p; |
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if(gettimeofday(&p,NULL)) { |
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perror("gettimeofday()"); |
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} |
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// printf("getCurrentTime() return=%u\n", p.tv_usec); |
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return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec; |
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} |