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include/timer.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 561 f9be4262c68d
permissions -rwxr-xr-x
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
This file is part of CanFestival, a library implementing CanOpen Stack.

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library 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
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __timer_h__
#define __timer_h__

#include <timerscfg.h>
#include <applicfg.h>

#define TIMER_HANDLE INTEGER16

#include "data.h"

/* --------- types and constants definitions --------- */
#define TIMER_FREE 0
#define TIMER_ARMED 1
#define TIMER_TRIG 2
#define TIMER_TRIG_PERIOD 3

#define TIMER_NONE -1

typedef void (*TimerCallback_t)(CO_Data* d, UNS32 id);

struct struct_s_timer_entry {
	UNS8 state;
	CO_Data* d;
	TimerCallback_t callback; /* The callback func. */
	UNS32 id; /* The callback func. */
	TIMEVAL val;
	TIMEVAL interval; /* Periodicity */
};

typedef struct struct_s_timer_entry s_timer_entry;

/* ---------  prototypes --------- */
/*#define SetAlarm(d, id, callback, value, period) printf("%s, %d, SetAlarm(%s, %s, %s, %s, %s)\n",__FILE__, __LINE__, #d, #id, #callback, #value, #period); _SetAlarm(d, id, callback, value, period)*/
/**
 * @ingroup timer
 * @brief Set an alarm to execute a callback function when expired.
 * @param *d Pointer to a CAN object data structure
 * @param id The alarm Id
 * @param callback A callback function
 * @param value Call the callback function at current time + value
 * @param period Call periodically the callback function
 * @return handle The timer handle
 */
TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period);

/**
 * @ingroup timer
 * @brief Delete an alarm before expiring.
 * @param handle A timer handle
 * @return The timer handle
 */
TIMER_HANDLE DelAlarm(TIMER_HANDLE handle);

void TimeDispatch(void);

/**
 * @ingroup timer
 * @brief Set a timerfor a given time.
 * @param value The time value.
 */
void setTimer(TIMEVAL value);

/**
 * @ingroup timer
 * @brief Get the time elapsed since latest timer occurence.
 * @return time elapsed since latest timer occurence
 */
TIMEVAL getElapsedTime(void);

#endif /* #define __timer_h__ */
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