VxWorksRTExecutionContext.h

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// -*- C++ -*-
#ifndef RTC_VXWORKSRTEXECUTIONCONTEXT_H
#define RTC_VXWORKSRTEXECUTIONCONTEXT_H
 
#include <vector>
#include <iostream>
 
#include <coil/Task.h>
#include <coil/Mutex.h>
#include <coil/Condition.h>
 
#include <rtm/PeriodicExecutionContext.h>
 
 
 
namespace RTC_exp
{
  class TimeValue_nano;
  class VxWorksRTExecutionContext
      : public RTC_exp::PeriodicExecutionContext
  {
  public:
    VxWorksRTExecutionContext();
 
    virtual ~VxWorksRTExecutionContext(void);
 
    virtual  void init(coil::Properties& props);
 
    virtual int svc(void);
 
 
 
  protected:
  private:
   void setPriority(coil::Properties& props);
   void setStackSize(coil::Properties& props);
   int sleep_nano(TimeValue_nano interval);
  }; // class VxWorksRTExecutionContext
  class TimeValue_nano
  {
  public:
    TimeValue_nano(long sec=0, long usec=0);
    TimeValue_nano(double timeval);
    ~TimeValue_nano();
    TimeValue_nano operator-(TimeValue_nano& tm);
    TimeValue_nano operator+(TimeValue_nano& tm);
    TimeValue_nano operator=(double time);
    operator double() const;
    int sign() const;
    void normalize();
    inline long int sec() const {return m_sec;}
    inline long int nsec() const {return m_nsec;}
  private:
    long int m_sec;
    long int m_nsec;
  };
} // namespace RTC
 
 
extern "C"
{
  void VxWorksRTExecutionContextInit(RTC::Manager* manager);
};
 
#endif // RTC_VXWORKSRTEXECUTIONCONTEXT_H