lib/RTAItask.hh

// RTAI繧ｿ繧ｹ繧ｯ�ｼ�螳滓凾髢薙�槭Ν繝√せ繝ｬ繝�繝臥函謌舌�ｻ遐ｴ譽�繧ｯ繝ｩ繧ｹ
// 2011/02/14 Yuki YOKOKURA
//
// RTAI繧ｿ繧ｹ繧ｯ縺ｨ隍�謨ｰ蛟九�ｮ螳滓凾髢薙せ繝ｬ繝�繝峨ｒ逕滓�舌�ｻ遐ｴ譽�縺吶ｋ
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef RTAITASK
#define RTAITASK

#include <rtai_lxrt.h>
#include <string.h>
#include "RTAIthread.hh"


typedef void (**FuncPtrs)(void*);       // 髢｢謨ｰ繝昴う繝ｳ繧ｿ驟榊�励く繝｣繧ｹ繝育畑

namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        // 蜍穂ｽ懃憾諷九�ｮ螳夂ｾｩ
        enum TaskState {
                RTID_TASK_NORMAL,       // 豁｣蟶ｸ
                RTID_TASK_ERR,          // 繧ｿ繧ｹ繧ｯ蜀�繧ｨ繝ｩ繝ｼ讀懷�ｺ
                RTID_THRD_ERR           // 繧ｹ繝ｬ繝�繝牙��繧ｨ繝ｩ繝ｼ讀懷�ｺ
        };
        
        class RTAItask {
                private:
                        RTAItask(const RTAItask&);                                      // 繧ｳ繝斐�ｼ繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ菴ｿ逕ｨ遖∵ｭ｢
                        const RTAItask& operator=(const RTAItask&);     // 莉｣蜈･貍皮ｮ怜ｭ蝉ｽｿ逕ｨ遖∵ｭ｢
                        
                        static const unsigned int       MAX_THREAD                      = 128;  // 繧ｹ繝ｬ繝�繝画怙螟ｧ謨ｰ (蜍慕噪霑ｽ蠕薙�ｯ縺ゅ→縺ｧ)
                        static const int                        STACK_SIZE                      = 4096; // RTAI繧ｹ繝ｬ繝�繝峨せ繧ｿ繝�繧ｯ繧ｵ繧､繧ｺ
                        static const unsigned long      THREAD_EXIT_WAIT        = 50000;// [us] 繧ｹ繝ｬ繝�繝臥ｵゆｺ�蜃ｦ逅�蠕�讖滓凾髢�
                        
                        const unsigned int NumOfThread;                 // 蜍穂ｽ懊＆縺帙ｋ繧ｹ繝ｬ繝�繝峨�ｮ謨ｰ
                        const unsigned long MinPeriodicTime;    // [ns] 荳�逡ｪ騾溘＞繧ｹ繝ｬ繝�繝峨�ｮ蛻ｶ蠕｡蜻ｨ譛�
                        volatile int StateFlag;                                 // 蜍穂ｽ懃憾諷九ヵ繝ｩ繧ｰ
                        RT_TASK *RTtaskID;                                              // 螳滓凾髢薙ち繧ｹ繧ｯ隴伜挨蟄�
                        RTAIthread* pRTthread[MAX_THREAD];              // 螳滓凾髢薙せ繝ｬ繝�繝� 0 �ｽ� MAX_THREAD 縺ｸ縺ｮ繝昴う繝ｳ繧ｿ
                        
                public:
                        // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ
                        RTAItask(
                                const unsigned int ThreadNum,                   // 蜍穂ｽ懊＆縺帙ｋ繧ｹ繝ｬ繝�繝峨�ｮ謨ｰ
                                void (** const PeriodicFuncs)(void*),   // 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ鄒､縺ｸ縺ｮ髢｢謨ｰ繝昴う繝ｳ繧ｿ
                                void* const FuncArgs,                                   // 髢｢謨ｰ繝昴う繝ｳ繧ｿ蠑墓焚
                                const unsigned long *PeriodicTime               // 蛻ｶ蠕｡蜻ｨ譛�
                        );
                        ~RTAItask();                                    // 繝�繧ｹ繝医Λ繧ｯ繧ｿ
                        void Start(void);                               // 螳滓凾髢薙せ繝ｬ繝�繝峨ｒ髢句ｧ九＆縺帙ｋ髢｢謨ｰ
                        void Stop(void);                                // 螳滓凾髢薙せ繝ｬ繝�繝峨ｒ邨ゆｺ�縺輔○繧矩未謨ｰ
                        void SendState(const int State);// 蜍穂ｽ懃憾諷九ｒ譖ｸ縺崎ｾｼ繧� State�ｼ帶園譛帙�ｮ蜍穂ｽ懃憾諷�
                        int  ReadState(void);                   // 蜍穂ｽ懃憾諷九ｒ隱ｭ縺ｿ蜃ｺ縺� 謌ｻ繧雁�､�ｼ帷樟蝨ｨ縺ｮ蜍穂ｽ懃憾諷�
                        // 髢句ｧ九°繧峨�ｮ邨碁℃譎る俣縺ｨ險育ｮ励↓隕√＠縺滓ｶ郁ｲｻ譎る俣繧貞叙蠕励☆繧矩未謨ｰ
                        void GetTimeValue(volatile double *Time, volatile long *PeriodicTime, volatile long *ComputationTime);
        };
}

#endif