[openrtm-commit:01045] r2384 - branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec

[openrtm ＠ openrtm.org]

Author: n-ando
Date: 2013-04-15 20:30:49 +0900 (Mon, 15 Apr 2013)
New Revision: 2384

Modified:
   branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.cpp
   branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.h
Log:
Now ART-EC has .priority and .art.priority option for priority setting.

Modified: branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.cpp
===================================================================
--- branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.cpp	2013-04-15 11:03:09 UTC (rev 2383)
+++ branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.cpp	2013-04-15 11:30:49 UTC (rev 2384)
@@ -29,8 +29,16 @@
 namespace RTC
 {
   ArtExecutionContext::ArtExecutionContext()
-    : PeriodicExecutionContext()
+    : PeriodicExecutionContext(),
+      m_priority(ART_PRIO_MAX-1)
   {
+    rtclog.setName("ArtEC");
+    coil::Properties& prop(Manager::instance().getConfig());
+
+    // Priority
+    getProperty(prop, "exec_cxt.periodic.priority", m_priority);
+    getProperty(prop, "exec_cxt.periodic.art.priority", m_priority);
+    RTC_DEBUG(("Priority: %d", m_priority));
   }
 
   ArtExecutionContext::~ArtExecutionContext()
@@ -40,8 +48,8 @@
 
   int ArtExecutionContext::svc(void)
   {
-    int usec(m_period.sec() * 1000000 + m_period.usec());
-    if (art_enter(ART_PRIO_MAX-1, ART_TASK_PERIODIC, usec) == -1)
+    int usec = static_cast<int>(1.0e6 / m_profile.rate);
+    if (art_enter(m_priority, ART_TASK_PERIODIC, usec) == -1)
       {
 	std::cerr << "fatal error: art_enter" << std::endl;
       }

Modified: branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.h
===================================================================
--- branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.h	2013-04-15 11:03:09 UTC (rev 2383)
+++ branches/RELENG_1_0/OpenRTM-aist/src/ext/artlinux/art_ec/ArtExecutionContext.h	2013-04-15 11:30:49 UTC (rev 2384)
@@ -38,6 +38,22 @@
     ArtExecutionContext();
     virtual ~ArtExecutionContext();
     virtual int svc(void);
+
+    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;
+          }
+      }
+    }
+
+  private:
+      int m_priority;
   };
 };