[openrtm-commit:02622] r2999 - in trunk/OpenRTM-aist/src/lib/coil: . vxworks/coil
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openrtm ＠ openrtm.org
2017年 6月 5日 (月) 08:53:03 JST
Author: miyamoto
Date: 2017-06-05 08:53:03 +0900 (Mon, 05 Jun 2017)
New Revision: 2999
Added:
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.cpp
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.h
Modified:
trunk/OpenRTM-aist/src/lib/coil/CMakeLists.txt
trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp
Log:
[compat, VxWorks] add Affinity.cpp.
Modified: trunk/OpenRTM-aist/src/lib/coil/CMakeLists.txt
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/CMakeLists.txt 2017-06-01 03:07:43 UTC (rev 2998)
+++ trunk/OpenRTM-aist/src/lib/coil/CMakeLists.txt 2017-06-04 23:53:03 UTC (rev 2999)
@@ -19,10 +19,11 @@
common/coil/Timer.cpp
common/coil/crc.cpp
common/coil/stringutil.cpp
+ vxworks/coil/Affinity.cpp
vxworks/coil/Condition.cpp
vxworks/coil/DynamicLib.cpp
vxworks/coil/Mutex.cpp
-# vxworks/coil/Routing.cpp
+ vxworks/coil/Routing.cpp
vxworks/coil/Process.cpp
vxworks/coil/Signal.cpp
vxworks/coil/Task.cpp
Added: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.cpp (rev 0)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.cpp 2017-06-04 23:53:03 UTC (rev 2999)
@@ -0,0 +1,97 @@
+// -*- C++ -*-
+/*!
+ * @file Affinity.cpp
+ * @brief Processor affinity operation class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <unistd.h>
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#include <pthread.h>
+#endif // _GNU_SOURCE
+#include <coil/stringutil.h>
+#include <coil/Affinity.h>
+
+#include <taskLib.h>
+#include <cpuset.h>
+
+namespace coil
+{
+ bool getProcCpuAffinity(CpuMask& cpu_mask)
+ {
+ return false;
+ }
+
+ bool setProcCpuAffinity(std::vector<unsigned int> mask)
+ {
+ return false;
+ }
+
+ bool setProcCpuAffinity(std::string cpu_mask)
+ {
+ return false;
+ }
+
+ bool getThreadCpuAffinity(CpuMask& cpu_mask)
+ {
+ int pid = taskIdSelf();
+ cpuset_t cpu_set;
+ CPUSET_ZERO (cpu_set);
+
+ cpu_mask.clear();
+
+ STATUS result = taskCpuAffinityGet(pid, &cpu_set);
+ if (result != OK) { return false; }
+
+ cpu_mask.push_back((unsigned int)cpu_set);
+ return true;
+ }
+
+ bool setThreadCpuAffinity(std::vector<unsigned int> mask)
+ {
+ int pid = taskIdSelf();
+ cpuset_t cpu_set;
+ CPUSET_ZERO (cpu_set);
+ if(mask.size() > 0)
+ {
+ CPUSET_SET(cpu_set, mask[0]);
+ }
+ else
+ {
+ return false;
+ }
+
+ STATUS result = taskCpuAffinitySet(pid, cpu_set);
+
+
+ if (result != OK) { return false; }
+
+ return true;
+ }
+
+ bool setThreadCpuAffinity(std::string cpu_mask)
+ {
+ coil::vstring tmp = coil::split(cpu_mask, ",", true);
+ CpuMask mask;
+ for (size_t i(0); i < tmp.size(); ++i)
+ {
+ int num;
+ if (coil::stringTo(num, tmp[i].c_str()))
+ {
+ mask.push_back(num);
+ }
+ }
+ return setThreadCpuAffinity(mask);
+ }
+}; // namespace coil
Added: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.h (rev 0)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Affinity.h 2017-06-04 23:53:03 UTC (rev 2999)
@@ -0,0 +1,123 @@
+// -*- C++ -*-
+/*!
+ * @file Affinity.h
+ * @brief Processor affinity operation class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef COIL_AFFINITY_H
+#define COIL_AFFINITY_H
+
+#include <string>
+#include <coil/Singleton.h>
+#include <coil/TimeValue.h>
+#include <coil/Mutex.h>
+#include <coil/Guard.h>
+
+
+
+namespace coil
+{
+ typedef std::vector<unsigned int> CpuMask;
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤ÎCPU affinity¤ò¼èÆÀ¤¹¤ë
+ * @prop cpu_mask ¸½ºßÀßÄꤵ¤ì¤Æ¤¤¤ë affinity ¤¬ CPU ID¤Î
+ * std::vector<unsigned int> ¤ÇÊÖ¤µ¤ì¤ë¡£
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Getting current process CPU affinity
+ * @prop cpu_mask Current CPU affinity mask is returned as CPU ID in
+ * std::vector<unsigned int>.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool getProcCpuAffinity(CpuMask& cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤ÎCPU affinity¤òÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î
+ * std::vector<unsigned int> ¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity
+ * @prop cpu_mask CPU affinity mask to be set is given with CPU ID in
+ * std::vector<unsigned int> list.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setProcCpuAffinity(const CpuMask cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤ÎCPU affinity¤òʸ»úÎó¤ÇÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î¥«¥ó¥Þ¶èÀÚ¤êʸ»ú
+ * Îó¤Î¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity with string
+ * @prop cpu_mask CPU affinity mask to be set is given with comma
+ * separated CPU ID string.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setProcCpuAffinity(std::string cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥¹¥ì¥Ã¥É¤ÎCPU affinity¤ò¼èÆÀ¤¹¤ë
+ * @prop cpu_mask ¸½ºßÀßÄꤵ¤ì¤Æ¤¤¤ë affinity ¤¬ CPU ID¤Î
+ * std::vector<unsigned int> ¤ÇÊÖ¤µ¤ì¤ë¡£
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Getting current process CPU affinity
+ * @prop cpu_mask Current CPU affinity mask is returned as CPU ID in
+ * std::vector<unsigned int>.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool getThreadCpuAffinity(CpuMask& cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥¹¥ì¥Ã¥É¤ÎCPU affinity¤òÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î
+ * std::vector<unsigned int> ¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity
+ * @prop cpu_mask CPU affinity mask to be set is given with CPU ID in
+ * std::vector<unsigned int> list.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setThreadCpuAffinity(const CpuMask cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥¹¥ì¥Ã¥É¤ÎCPU affinity¤òʸ»úÎó¤ÇÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î¥«¥ó¥Þ¶èÀÚ¤êʸ»ú
+ * Îó¤Î¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity with string
+ * @prop cpu_mask CPU affinity mask to be set is given with comma
+ * separated CPU ID string.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setThreadCpuAffinity(std::string mask);
+
+}; // namespace coil
+#endif // COIL_AFFINITY_H
Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp 2017-06-01 03:07:43 UTC (rev 2998)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Mutex.cpp 2017-06-04 23:53:03 UTC (rev 2999)
@@ -3,11 +3,12 @@
* @file MutexPosix.h
* @brief RT-Middleware Service interface
* @date $Date$
- * @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
+ * @author Noriaki Ando <n-ando at aist.go.jp>
*
- * Copyright (C) 2017
- * Nobuhiko Miyamoto
- * Robot Innovation Research Center
+ * Copyright (C) 2008
+ * Noriaki Ando
+ * Task-intelligence Research Group,
+ * Intelligent Systems Research Institute,
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
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