src/FastResearchInterfaceLibrary/WaitForTicks.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 <errno.h>
#include <OSAbstraction.h>




// ****************************************************************
// WaitForKRCTick()
//
int FastResearchInterface::WaitForKRCTick(const unsigned int &TimeoutValueInMicroSeconds)
{
    int     ReturnValue     =   EOK;

#ifdef _NTO_

    struct timespec         TimeoutValue
                        ,   CurrentTime;

    if (TimeoutValueInMicroSeconds > 0)
    {
        clock_gettime(CLOCK_REALTIME, &CurrentTime);

        TimeoutValue.tv_nsec    =   (CurrentTime.tv_nsec + (TimeoutValueInMicroSeconds * 1000)) % 1000000000;
        TimeoutValue.tv_sec     =   CurrentTime.tv_sec + (TimeoutValueInMicroSeconds % 1000000)
                                        + (CurrentTime.tv_nsec + (TimeoutValueInMicroSeconds * 1000)) / 1000000000;

        pthread_mutex_lock(&(this->MutexForControlData));
        while (!this->NewDataFromKRCReceived)
        {

            ReturnValue =    pthread_cond_timedwait(    &(this->CondVarForDataReceptionFromKRC)
                                                    ,   &(this->MutexForControlData)
                                                    ,   &TimeoutValue                           );
        }
        this->NewDataFromKRCReceived    =   false;
        pthread_mutex_unlock(&(this->MutexForControlData));

        return(ReturnValue);
    }

#endif

    pthread_mutex_lock(&(this->MutexForControlData));
    while (!this->NewDataFromKRCReceived)
    {

        ReturnValue =    pthread_cond_wait(     &(this->CondVarForDataReceptionFromKRC)
                                            ,   &(this->MutexForControlData)            );
    }
    this->NewDataFromKRCReceived    =   false;
    pthread_mutex_unlock(&(this->MutexForControlData));


    return(ReturnValue);
}



// ****************************************************************
// WaitForTimerTick()
//
int FastResearchInterface::WaitForTimerTick(const unsigned int &TimeoutValueInMicroSeconds)
{
    int     ReturnValue     =   0;

#ifdef _NTO_

    struct timespec         TimeoutValue
                        ,   CurrentTime;

    if (TimeoutValueInMicroSeconds > 0)
    {
        clock_gettime(CLOCK_REALTIME, &CurrentTime);

        TimeoutValue.tv_nsec    =   (CurrentTime.tv_nsec + (TimeoutValueInMicroSeconds * 1000)) % 1000000000;
        TimeoutValue.tv_sec     =   CurrentTime.tv_sec + (TimeoutValueInMicroSeconds % 1000000)
                                        + (CurrentTime.tv_nsec + (TimeoutValueInMicroSeconds * 1000)) / 1000000000;

        pthread_mutex_lock(&(this->MutexForCondVarForTimer));
        while (!this->TimerFlag)
        {

            ReturnValue =    pthread_cond_timedwait(    &(this->CondVarForTimer)
                                                    ,   &(this->MutexForCondVarForTimer)
                                                    ,   &TimeoutValue                           );
        }
        this->TimerFlag =   false;
        pthread_mutex_unlock(&(this->MutexForCondVarForTimer));

        return(ReturnValue);
    }

#endif

    pthread_mutex_lock(&(this->MutexForCondVarForTimer));
    while (!this->TimerFlag)
    {

        ReturnValue =    pthread_cond_wait(     &(this->CondVarForTimer)
                                            ,   &(this->MutexForCondVarForTimer)            );
    }

    this->TimerFlag =   false;
    pthread_mutex_unlock(&(this->MutexForCondVarForTimer));

    return(ReturnValue);
}