lib/RTAIthread.hh

// RTAI螳滓凾髢薙せ繝ｬ繝�繝臥函謌舌�ｻ遐ｴ譽�繧ｯ繝ｩ繧ｹ
// 2011/02/14 Yuki YOKOKURA
//
// RTAI螳滓凾髢薙せ繝ｬ繝�繝峨ｒ逕滓�舌�ｻ遐ｴ譽�縺吶ｋ
// 螳滄圀縺ｫ險域ｸｬ縺輔ｌ縺溷宛蠕｡蜻ｨ譛溘ｄ險育ｮ玲ｶ郁ｲｻ譎る俣繧よ署萓帙☆繧�
//
// 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 RTAITHREADING
#define RTAITHREADING

#include <stdio.h>
#include <rtai_lxrt.h>
#include <sys/io.h>


namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        // 蜍穂ｽ懃憾諷九�ｮ螳夂ｾｩ
        enum ThreadState {
                RTID_ERROR,     // 繧ｨ繝ｩ繝ｼ讀懷�ｺ
                RTID_STOP,      // 蛛懈ｭ｢迥ｶ諷�
                RTID_RUN,       // 蜍穂ｽ應ｸｭ
                RTID_EXCMPL     // 邨ゆｺ�蜍穂ｽ懷ｮ御ｺ�
        };
        
        class RTAIthread {
                // RTAI螳滓凾髢薙せ繝ｬ繝�繝臥函謌舌け繝ｩ繧ｹ
                private:
                        RTAIthread(const RTAIthread&);                                  // 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 RTAIthread& operator=(const RTAIthread&); // 莉｣蜈･貍皮ｮ怜ｭ蝉ｽｿ逕ｨ遖∵ｭ｢
                        static const int STACK_SIZE = 4096;     // 繧ｹ繝ｬ繝�繝峨せ繧ｿ繝�繧ｯ繧ｵ繧､繧ｺ
                        volatile int StateFlag;         // 蜍穂ｽ懃憾諷九ヵ繝ｩ繧ｰ
                        const char *TaskName;           // 螳滓凾髢薙せ繝ｬ繝�繝牙錐(6譁�蟄励∪縺ｧ)
                        const unsigned long Ts;         // 蛻ｶ蠕｡蜻ｨ譛�
                        const int Priority;                     // 螳滓凾髢薙せ繝ｬ繝�繝牙━蜈磯��菴�
                        void (* const pRTfunc)(void*);  // 蛻ｶ蠕｡逕ｨ螳溯｡碁未謨ｰ縺ｸ縺ｮ繝昴う繝ｳ繧ｿ
                        void* const pArg;                       // 髢｢謨ｰ繝昴う繝ｳ繧ｿ縺ｮ蠑墓焚
                        long RealTimeThread_ID;         // 螳滓凾髢薙せ繝ｬ繝�繝芽ｭ伜挨蟄�
                        unsigned long NowTime;          // 譎ょ綾 ( 遞ｼ蜒阪〒縺阪ｋ譎る俣 = Ts*2^(sizeof(unsigned long)*8) = 100e-6*2^32 = 邏�119譎る俣(萓�) ) 遞ｼ蜒肴凾髢薙ｒ莨ｸ縺ｰ縺励◆縺代ｌ縺ｰ縲蛍nsigned long long縲阪↓縺吶ｋ
                        long PeriodicTime;                      // 險域ｸｬ縺輔ｌ縺溷ｮ滄圀縺ｮ蜻ｨ譛滓凾髢�
                        long ComputationTime;           // 險育ｮ励↓繧医▲縺ｦ豸郁ｲｻ縺輔ｌ縺滓凾髢� (縺､縺ｾ繧� ComputationTime < PeriodicTime 縺ｧ縺ｪ縺代ｌ縺ｰ縺ｪ繧峨↑縺�)
                        static void RealTimeThread(RTAIthread *pParam); // 螳滓凾髢薙せ繝ｬ繝�繝�
                        
                public:
                        // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ Name�ｼ帙せ繝ｬ繝�繝牙錐�ｼ卦ime�ｼ帛宛蠕｡蜻ｨ譛滂ｼ訓rio�ｼ帛━蜈磯��菴搾ｼ軍Tfunc�ｼ帛宛蠕｡逕ｨ螳溯｡碁未謨ｰ(髢｢謨ｰ繝昴う繝ｳ繧ｿ)
                        RTAIthread(const char *Name, const unsigned long Time, const int Prio, void (* const RTfunc)(void*), void* const Arg);
                        ~RTAIthread();                          // 繝�繧ｹ繝医Λ繧ｯ繧ｿ
                        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�
                        unsigned long GetTime(void);// 譎ょ綾繧貞叙蠕励☆繧矩未謨ｰ
                        long GetSmplTime(void);         // 險域ｸｬ縺輔ｌ縺溷ｮ滄圀縺ｮ繧ｵ繝ｳ繝励Μ繝ｳ繧ｰ譎る俣繧貞叙蠕励☆繧矩未謨ｰ
                        long GetCompTime(void);         // 險域ｸｬ縺輔ｌ縺滓ｶ郁ｲｻ譎る俣繧貞叙蠕励☆繧矩未謨ｰ
        };
}

#endif