[openrtm-commit:02619] r2996 - trunk/OpenRTM-aist/src/lib/coil/vxworks/coil

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2017-05-31 11:13:29 +0900 (Wed, 31 May 2017)
New Revision: 2996

Modified:
   trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp
   trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h
Log:
[incompat, VxWorks] Modified Task.cpp.

Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp	2017-05-30 09:56:31 UTC (rev 2995)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.cpp	2017-05-31 02:13:29 UTC (rev 2996)
@@ -18,6 +18,11 @@
 
 #include <coil/Task.h>
 
+#ifdef __RTP__
+#define DEFAULT_PRIORITY 110
+#define DEFAULT_STACKSIZE 60000
+#endif
+
 namespace coil
 {
 
@@ -30,8 +35,15 @@
    */
   Task::Task()
     : m_count(0)
+#ifdef __RTP__
+    ,m_priority(DEFAULT_PRIORITY)
+    ,m_stacksize(DEFAULT_STACKSIZE)
+#endif
   {
+#ifdef __RTP__
+#else
     ::pthread_attr_init(&m_attr);
+#endif
   }
 
   /*!
@@ -93,10 +105,22 @@
   {
     if (m_count == 0)
       {
+#ifdef __RTP__
+        m_tid = taskSpawn(
+                         0,
+                         m_priority,
+                         VX_FP_TASK | VX_NO_STACK_FILL,
+                         m_stacksize,
+                         (FUNCPTR)Task::svc_run,
+                         (int)this,
+                         0,0,0,0,0,0,0,0,0
+                         );
+#else
         ::pthread_create(&m_thread,
                          &m_attr,
                          (void* (*)(void*))Task::svc_run,
                          this);
+#endif
         ++m_count;
       };
   }
@@ -112,8 +136,12 @@
   {
     if (m_count > 0)
       {
+#ifdef __RTP__
+        taskExit(m_tid);
+#else
         void* retval;
         ::pthread_join(m_thread, &retval);
+#endif
       }
     return 0;
   }
@@ -173,7 +201,11 @@
    * @brief Start thread Execution
    * @endif
    */
+#ifdef __RTP__
+  extern "C" void* Task::svc_run(void* args)
+#else
   void* Task::svc_run(void* args)
+#endif
   {
     Task* t = (coil::Task*)args;
     int status;
@@ -181,6 +213,52 @@
     t->finalize();
     return 0;
   }
+
+
+#ifdef __RTP__
+  /*!
+   * @if jp
+   *
+   * @brief ¥¿¥¹¥¯¤ÎÍ¥ÀèÅÙ¤òÀßÄê
+   *
+   *
+   * @param priority Í¥ÀèÅÙ
+   *
+   * @else
+   *
+   * @brief 
+   *
+   *
+   * @param priority 
+   *
+   * @endif
+   */
+  void Task::set_priority(int priority)
+  {
+    m_priority = priority;
+  }
+  /*!
+   * @if jp
+   *
+   * @brief ¥¹¥¿¥Ã¥¯¥µ¥¤¥º¤ÎÀßÄê
+   *
+   *
+   * @param stacksize ¥¹¥¿¥Ã¥¯¥µ¥¤¥º
+   *
+   * @else
+   *
+   * @brief 
+   *
+   *
+   * @param stacksize 
+   *
+   * @endif
+   */
+  void Task::set_stacksize(int stacksize)
+  {
+    m_stacksize = stacksize;
+  }
+#endif
 };
 
 

Modified: trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h	2017-05-30 09:56:31 UTC (rev 2995)
+++ trunk/OpenRTM-aist/src/lib/coil/vxworks/coil/Task.h	2017-05-31 02:13:29 UTC (rev 2996)
@@ -19,7 +19,12 @@
 #ifndef COIL_TASK_H
 #define COIL_TASK_H
 
+#ifdef __RTP__
+#include <vxWorks.h>
+#include <taskLib.h>
+#else
 #include <pthread.h>
+#endif
 
 namespace coil
 {
@@ -255,13 +260,59 @@
      */
     static void* svc_run(void* args = 0);
 
+#ifdef __RTP__
+    /*!
+     * @if jp
+     *
+     * @brief ¥¿¥¹¥¯¤ÎÍ¥ÀèÅÙ¤òÀßÄê
+     *
+     *
+     * @param priority Í¥ÀèÅÙ
+     *
+     * @else
+     *
+     * @brief 
+     *
+     *
+     * @param priority 
+     *
+     * @endif
+     */
+    void set_priority(int priority);
+    /*!
+     * @if jp
+     *
+     * @brief ¥¹¥¿¥Ã¥¯¥µ¥¤¥º¤ÎÀßÄê
+     *
+     *
+     * @param stacksize ¥¹¥¿¥Ã¥¯¥µ¥¤¥º
+     *
+     * @else
+     *
+     * @brief 
+     *
+     *
+     * @param stacksize 
+     *
+     * @endif
+     */
+    void set_stacksize(int stacksize);
+#endif
+
   private:
     int m_count;
+#ifdef __RTP__
+    int m_tid;
+    int m_priority;
+    int m_stacksize;
+#else
     pthread_t m_thread;
     pthread_attr_t m_attr;
+#endif
     void* m_args;
 
   };
+
 };
 
 #endif // COIL_TASK_H