VxWorksInterruptExecutionContext.h

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// -*- C++ -*-
#ifndef RTC_VXWORKSINTERRUPTEXECUTIONCONTEXT_H
#define RTC_VXWORKSINTERRUPTEXECUTIONCONTEXT_H
 
#include <rtm/RTC.h>
 
#include <coil/Mutex.h>
#include <coil/Condition.h>
#include <coil/Task.h>
 
#include <rtm/ExecutionContextBase.h>
 
#include <intLib.h>
 
namespace RTC
{
  class VxWorksInterruptExecutionContext
    : public virtual POA_RTC::ExecutionContextService,
      public virtual PortableServer::RefCountServantBase,
      public RTC::ExecutionContextBase,
      public coil::Task
  {
    typedef coil::Mutex Mutex;
    typedef coil::Condition<Mutex> Condition;
  public:
    VxWorksInterruptExecutionContext();
    
    virtual ~VxWorksInterruptExecutionContext(void);
 
    virtual  void init(coil::Properties& props);
    virtual int open(void *args);
 
    virtual int close(unsigned long flags);
 
    virtual int svc(void);
    
    //============================================================
    // ExecutionContextService
    //============================================================
    virtual void tick();
    virtual CORBA::Boolean is_running(void)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t start(void)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t stop(void)
      throw (CORBA::SystemException);
 
    virtual CORBA::Double get_rate(void)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t  set_rate(CORBA::Double rate)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t
    activate_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
    
    virtual RTC::ReturnCode_t
    deactivate_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t
    reset_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
 
    virtual RTC::LifeCycleState
    get_component_state(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
 
    virtual RTC::ExecutionKind get_kind(void)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t add_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
 
    virtual RTC::ReturnCode_t
    remove_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
 
    virtual RTC::ExecutionContextProfile* get_profile(void)
      throw (CORBA::SystemException);
 
  protected:
    template <class T>
    void getProperty(coil::Properties& prop, const char* key, T& value)
    {
      if (prop.findNode(key) != 0)
        {
          T tmp;
          if (coil::stringTo(tmp, prop[key].c_str()))
            {
              value = tmp;
            }
        }
    }
    virtual RTC::ReturnCode_t onStarted();
    // template virtual functions adding/removing component
     virtual RTC::ReturnCode_t
     onAddedComponent(RTC::LightweightRTObject_ptr rtobj);
    virtual RTC::ReturnCode_t
    onRemovedComponent(RTC::LightweightRTObject_ptr rtobj);
    virtual RTC::ReturnCode_t
    onWaitingActivated(RTC_impl::RTObjectStateMachine* comp, long int count);
    virtual RTC::ReturnCode_t
    onWaitingDeactivated(RTC_impl::RTObjectStateMachine* comp, long int count);
    virtual RTC::ReturnCode_t
    onWaitingReset(RTC_impl::RTObjectStateMachine* comp, long int count);
 
  private:
    bool threadRunning()
    {
      std::lock_guard<coil::Mutex> guard(m_svcmutex);
      return m_svc;
    }
    STATUS setInterrupt(coil::Properties& props);
    RTC::Logger rtclog;
 
    bool m_svc;
    Mutex m_svcmutex;
 
    struct Worker
    {
      Worker() : cond_(mutex_), ticked_(false) {};
      Mutex mutex_;
      Condition cond_;
      bool ticked_;
    };
    // A condition variable for external triggered worker
    Worker m_worker;
    int exception_number;
  };  // class VxWorksInterruptExecutionContext
} // namespace RTC
 
 
 
 
extern "C"
{
  void VxWorksInterruptExecutionContextInit(RTC::Manager* manager);
};
 
#endif // RTC_VXWORKSINTERRUPTEXECUTIONCONTEXT_H