src/FastResearchInterfaceLibrary/TimerThreadMain.cpp

Go to the documentation of this file.

//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
//   For a convenient reading of this file's source code,
//   please use a tab width of four characters.
//  ----------------------------------------------------------


#include <FastResearchInterface.h>
#include <pthread.h>
#include <stdio.h>
#include <OSAbstraction.h>


#ifdef _NTO_



#include <sys/neutrino.h>
#include <sched.h>


#define TIMER_PULSE                 (_PULSE_CODE_MINAVAIL)



// ****************************************************************
// TimerThreadMain()
//
void* FastResearchInterface::TimerThreadMain(void *ObjectPointer)
{
    int                             OurChannelID    =   0
                                ,   ReceptionID     =   0;

    timer_t                         TimerID;

    struct sigevent                 Event;

    struct itimerspec               Timer;

    struct _pulse                   PulseMsg;

    FastResearchInterface           *ThisObjectPtr      =   (FastResearchInterface*)ObjectPointer;

    OurChannelID                =   ChannelCreate(0); //create communication channel

    // Initialize event data structure
    // attach the timer to the channel OurChannelID
    Event.sigev_notify          =   SIGEV_PULSE;
    Event.sigev_coid            =   ConnectAttach(0, 0, OurChannelID, _NTO_SIDE_CHANNEL, 0);
    Event.sigev_priority        =   getprio(0);
    Event.sigev_code            =   TIMER_PULSE;

    timer_create(CLOCK_REALTIME, &Event, &TimerID);

    // Configure the timer
    Timer.it_value.tv_sec       =   0L;
    Timer.it_value.tv_nsec      =   (long int)(1000000000.0 * ThisObjectPtr->CycleTime);    // wait one cycle time interval before start
    Timer.it_interval.tv_sec    =   0L;
    Timer.it_interval.tv_nsec   =   (long int)(1000000000.0 * ThisObjectPtr->CycleTime);

    pthread_mutex_lock(&(ThisObjectPtr->MutexForThreadCreation));
    ThisObjectPtr->ThreadCreated    =   true;
    pthread_mutex_unlock(&(ThisObjectPtr->MutexForThreadCreation));

    pthread_cond_signal(&(ThisObjectPtr->CondVarForThreadCreation));

    // Start the timer
    timer_settime(TimerID, 0, &Timer, NULL);

    pthread_mutex_lock(&(ThisObjectPtr->MutexForCondVarForTimer));

    while(!(ThisObjectPtr->TerminateTimerThread))
    {
        pthread_mutex_unlock(&(ThisObjectPtr->MutexForCondVarForTimer));

        ReceptionID = MsgReceive(OurChannelID, &PulseMsg, sizeof(PulseMsg), NULL);

        pthread_mutex_lock(&(ThisObjectPtr->MutexForCondVarForTimer));
        if (ReceptionID == 0)
        {
            ThisObjectPtr->TimerFlag = true;
            pthread_cond_signal(&(ThisObjectPtr->CondVarForTimer));
        }
    }
    pthread_mutex_unlock(&(ThisObjectPtr->MutexForCondVarForTimer));

    if (timer_delete(TimerID) != 0)
    {
        ThisObjectPtr->OutputConsole->printf("FastResearchInterface::TimerThreadMain(): ERROR, cannot delete timer...\n");
    }

    pthread_exit(NULL);
}


#endif // _NTO_


#ifndef _NTO_



// ****************************************************************
// TimerThreadMain()
//
void* FastResearchInterface::TimerThreadMain(void *ObjectPointer)
{
    int                             OurChannelID    =   0
                                ,   ReceptionID     =   0;

    FastResearchInterface           *ThisObjectPtr  =   (FastResearchInterface*)ObjectPointer;

    pthread_mutex_lock(&(ThisObjectPtr->MutexForThreadCreation));
    ThisObjectPtr->ThreadCreated    =   true;
    pthread_mutex_unlock(&(ThisObjectPtr->MutexForThreadCreation));

    pthread_cond_signal(&(ThisObjectPtr->CondVarForThreadCreation));

    pthread_mutex_lock(&(ThisObjectPtr->MutexForCondVarForTimer));

    while(!(ThisObjectPtr->TerminateTimerThread))
    {
        pthread_mutex_unlock(&(ThisObjectPtr->MutexForCondVarForTimer));

        delay(1);

        pthread_mutex_lock(&(ThisObjectPtr->MutexForCondVarForTimer));
        if (ReceptionID == 0)
        {
            ThisObjectPtr->TimerFlag = true;
            pthread_cond_signal(&(ThisObjectPtr->CondVarForTimer));
        }
    }
    pthread_mutex_unlock(&(ThisObjectPtr->MutexForCondVarForTimer));

    pthread_exit(NULL);
    
    return (NULL);
}


#endif // WIN32