[openrtm-commit:02621] r2998 - trunk/OpenRTM-aist/src/lib/coil/vxworks/coil
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 6月 1日 (木) 12:07:43 JST
Author: miyamoto
Date: 2017-06-01 12:07:43 +0900 (Thu, 01 Jun 2017)
New Revision: 2998
Modified:
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/File.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/OS.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.h
Log:
[compat, VxWorks] support RTP.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,14 +1,13 @@
// -*- C++ -*-
/*!
- * @file MutexPosix.h
- * @brief RT-Middleware Service interface
+ * @file Mutex_vxworks.cpp
+ * @brief Condition variable for VxWorks
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Condition.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,14 +1,13 @@
// -*- C++ -*-
/*!
- * @file Condition_posix.h
- * @brief Condition variable for POSIX
+ * @file Condition_vxworks.h
+ * @brief Condition variable for VxWorks
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
@@ -23,12 +22,21 @@
#include <pthread.h>
#include <algorithm>
#include <ctime>
-#if defined(VXWORKS_66) && !defined(__RTP__)
+
+#ifdef __RTP__
+#include <semLib.h>
+#include <sysLib.h>
+#include <taskLib.h>
+#else
+#ifdef VXWORKS_66
#include <timers.h>
#else
#include <sys/time.h>
#endif
+#endif
+
+
namespace coil
{
/*!
@@ -67,7 +75,11 @@
Condition(M& mutex)
: m_mutex(mutex)
{
+#ifdef __RTP__
+ m_cond = semCCreate(SEM_Q_PRIORITY, 0);
+#else
::pthread_cond_init(&m_cond, 0);
+#endif
}
/*!
@@ -87,7 +99,11 @@
*/
~Condition()
{
+#ifdef __RTP__
+ semDelete(m_cond);
+#else
::pthread_cond_destroy(&m_cond);
+#endif
}
/*!
@@ -107,7 +123,11 @@
*/
inline void signal()
{
+#ifdef __RTP__
+ semGive(m_cond);
+#else
::pthread_cond_signal(&m_cond);
+#endif
}
/*!
@@ -127,7 +147,11 @@
*/
inline void broadcast()
{
+#ifdef __RTP__
+ semFlush(m_cond);
+#else
::pthread_cond_broadcast(&m_cond);
+#endif
}
/*!
@@ -151,7 +175,20 @@
*/
bool wait()
{
+#ifdef __RTP__
+ //taskLock();
+ m_mutex.unlock();
+ STATUS status = semTake(m_cond, WAIT_FOREVER);
+ //taskUnlock();
+ if(status != OK)
+ {
+ return -1;
+ }
+ m_mutex.lock();
+ return 0;
+#else
return 0 == ::pthread_cond_wait(&m_cond, &m_mutex.mutex_);
+#endif
}
/*!
@@ -181,7 +218,25 @@
*/
bool wait(long second, long nano_second = 0)
{
-#if defined(VXWORKS_66) && !defined(__RTP__)
+#ifdef __RTP__
+ //taskLock();
+ m_mutex.unlock();
+ long timeout = (second*1000 + nano_second/1000000l);
+ int ticks = (timeout*sysClkRateGet()) / 1000l;
+ STATUS status = semTake(m_cond, ticks);
+ //taskUnlock();
+
+ m_mutex.lock();
+ if(status != OK)
+ {
+ return -1;
+ }
+ else
+ {
+ return 0;
+ }
+#else
+#ifdef VXWORKS_66
timespec abstime;
::clock_gettime(CLOCK_REALTIME, &abstime);
abstime.tv_sec += second;
@@ -199,12 +254,17 @@
abstime.tv_sec ++;
}
return 0 == ::pthread_cond_timedwait(&m_cond, &m_mutex.mutex_, &abstime);
+#endif
}
private:
Condition(const M&);
Condition& operator=(const M &);
+#ifdef __RTP__
+ SEM_ID m_cond;
+#else
pthread_cond_t m_cond;
+#endif
M& m_mutex;
};
};
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,11 +3,11 @@
* @file DynamicLib.cpp
* @brief DynamicLib class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008 Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/DynamicLib.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,11 +3,11 @@
* @file DynamicLib_posix.h
* @brief DynamicLib class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008 Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/File.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/File.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/File.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,13 +1,13 @@
// -*- C++ -*-
/*!
- * @file File_posix.h
+ * @file File_vxworks.h
* @brief File functions
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,12 +3,11 @@
* @file MutexPosix.h
* @brief RT-Middleware Service interface
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,14 +1,13 @@
// -*- C++ -*-
/*!
- * @file Mutex_posix.h
- * @brief coil POSIX mutex class
+ * @file Mutex_vxworks.h
+ * @brief coil VxWorks mutex class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
@@ -17,10 +16,15 @@
*
*/
+
#ifndef COIL_MUTEX_H
#define COIL_MUTEX_H
+
#include <pthread.h>
+#ifdef __RTP__
+#include <semLib.h>
+#endif
namespace coil
{
@@ -61,7 +65,11 @@
*/
Mutex(const char * const name = 0)
{
+#ifdef __RTP__
+ mutex_ = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE);
+#else
::pthread_mutex_init(&mutex_, 0);
+#endif
}
/*!
@@ -81,7 +89,11 @@
*/
~Mutex()
{
+#ifdef __RTP__
+ semDelete(mutex_);
+#else
::pthread_mutex_destroy(&mutex_);
+#endif
}
/*!
@@ -101,7 +113,11 @@
*/
inline void lock()
{
+#ifdef __RTP__
+ semTake(mutex_, WAIT_FOREVER);
+#else
::pthread_mutex_lock(&mutex_);
+#endif
}
/*!
@@ -121,7 +137,12 @@
*/
inline bool trylock()
{
+#ifdef __RTP__
+ STATUS status = semTake(mutex_, NO_WAIT);
+ return (status == OK);
+#else
return ::pthread_mutex_trylock(&mutex_);
+#endif
}
/*!
@@ -141,7 +162,11 @@
*/
inline void unlock()
{
+#ifdef __RTP__
+ semGive(mutex_);
+#else
::pthread_mutex_unlock(&mutex_);
+#endif
}
/*!
@@ -155,7 +180,11 @@
*
* @endif
*/
+#ifdef __RTP__
+ SEM_ID mutex_;
+#else
pthread_mutex_t mutex_;
+#endif
private:
Mutex(const Mutex&);
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/OS.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/OS.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/OS.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,13 +1,13 @@
// -*- C++ -*-
/*!
- * @file OS_posix.h
+ * @file OS_vxworks.h
* @brief OS class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,12 +3,11 @@
* @file Process.h
* @brief Process handling functions
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2010
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Process.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,12 +3,11 @@
* @file Process.h
* @brief Process handling functions
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2010
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,12 +3,11 @@
* @file Signal_posix.cpp
* @brief SignalAction class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Signal.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,14 +1,13 @@
// -*- C++ -*-
/*!
- * @file Signal_posix.h
+ * @file Signal_vxworks.h
* @brief SignalAction class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,13 +1,13 @@
// -*- C++ -*-
/*!
- * @file Task_posix.cpp
+ * @file Task_vxworks.cpp
* @brief Task class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,13 +1,13 @@
// -*- C++ -*-
/*!
- * @file Task_posix.h
+ * @file Task_vxworks.h
* @brief Task class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.cpp 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.cpp 2017-06-01 03:07:43 UTC (rev 2998)
@@ -3,11 +3,11 @@
* @file Timevalue.h
* @brief Timevalue class
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.h 2017-05-31 05:08:08 UTC (rev 2997)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Time.h 2017-06-01 03:07:43 UTC (rev 2998)
@@ -1,13 +1,13 @@
// -*- C++ -*-
/*!
- * @file Time_posix.h
+ * @file Time_vxworks.h
* @brief Time functions
* @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
+ * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
*
- * Copyright (C) 2008
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
+ * Copyright (C) 2017
+ * Nobuhiko Miyamoto
+ * Robot Innovation Research Center
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
@@ -28,11 +28,13 @@
#include <sys/types.h>
#include <time.h>
-#include <iostream>
#include <coil/config_coil.h>
#include <coil/TimeValue.h>
-#ifndef __RTP__
+#ifdef __RTP__
+#include <taskLib.h>
+#include <sysLib.h>
+#else
#include <selectLib.h>
#endif
@@ -62,7 +64,19 @@
*/
inline unsigned int sleep(unsigned int seconds)
{
+#ifdef __RTP__
+ int tps = sysClkRateGet();
+ if(taskDelay(seconds*tps) == OK)
+ {
+ return 0;
+ }
+ else
+ {
+ return -1;
+ }
+#else
return ::sleep(seconds);
+#endif
}
/*!
@@ -88,10 +102,22 @@
*/
inline int sleep(TimeValue interval)
{
+#ifdef __RTP__
+ int tps = sysClkRateGet();
+ if(taskDelay((double)interval.sec()*tps + (double)(interval.usec()*tps)/1000000l) == OK)
+ {
+ return 0;
+ }
+ else
+ {
+ return -1;
+ }
+#else
timeval tv;
tv.tv_sec = interval.sec();
tv.tv_usec = interval.usec();
return ::select(0, 0, 0, 0, &tv);
+#endif
}
/*!
@@ -117,8 +143,20 @@
*/
inline int usleep(unsigned int usec)
{
- struct timespec req = {0,usec * 1000};
- return ::nanosleep(&req, NULL);
+#ifdef __RTP__
+ int tps = sysClkRateGet();
+ if(taskDelay((double)(usec*tps)/1000000000l) == OK)
+ {
+ return 0;
+ }
+ else
+ {
+ return -1;
+ }
+#else
+ struct timespec req = {0,usec * 1000};
+ return ::nanosleep(&req, NULL);
+#endif
}
/*!
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