/*
- * $Id: htimerNtp.c,v 0.0.0.1 2003/08/21
+ * $Id: htimerNtp.c,v 0.0.0.1 2003/08/21
*
* DEBUG: section 2 HTimer for NtpTime
*
- * -------------------------------------------------------------------
- * ORTE
- * Open Real-Time Ethernet
- *
- * Copyright (C) 2001-2006
- * Department of Control Engineering FEE CTU Prague, Czech Republic
- * http://dce.felk.cvut.cz
- * http://www.ocera.org
- *
- * Author: Petr Smolik petr@smoliku.cz
- * Advisor: Pavel Pisa
- * Project Responsible: Zdenek Hanzalek
+ * -------------------------------------------------------------------
+ * ORTE
+ * Open Real-Time Ethernet
+ *
+ * Copyright (C) 2001-2006
+ * Department of Control Engineering FEE CTU Prague, Czech Republic
+ * http://dce.felk.cvut.cz
+ * http://www.ocera.org
+ *
+ * Author: Petr Smolik petr@smoliku.cz
+ * Advisor: Pavel Pisa
+ * Project Responsible: Zdenek Hanzalek
* --------------------------------------------------------------------
*
* 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 2 of the License, or
* (at your option) 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.
- *
- */
+ *
+ */
#define UL_HTIMER_INC_FROM_BASE
#include "orte_all.h"
-GAVL_FLES_INT_DEC(ul_htim_queue, /* prefix */
- ul_htim_queue_t, /* root_t */
- ul_htim_node_t, /* item_t */
- ul_htim_time_t, /* key_t */
- timers, /* root_field */
- node, /* item_node */
- expires, /* item_key */
- ul_htimer_cmp_fnc) /* cmp_fnc */
+GAVL_FLES_INT_DEC(ul_htim_queue, /* prefix */
+ ul_htim_queue_t, /* root_t */
+ ul_htim_node_t, /* item_t */
+ ul_htim_time_t, /* key_t */
+ timers, /* root_field */
+ node, /* item_node */
+ expires, /* item_key */
+ ul_htimer_cmp_fnc) /* cmp_fnc */
GAVL_FLES_INT_IMP(ul_htim_queue, ul_htim_queue_t, ul_htim_node_t, ul_htim_time_t,
- timers, node, expires, ul_htimer_cmp_fnc, GAVL_FAFTER,
- root->first_changed=1,;,root->first_changed=1)
+ timers, node, expires, ul_htimer_cmp_fnc, GAVL_FAFTER,
+ root->first_changed = 1,;
+ , root->first_changed = 1)
/*****************************************************************************/
UL_HTIMER_IMP(htimerRoot, \
- ObjectEntry, \
- HTimFncRootNode, \
- htimRoot, \
- htim)
-void
-htimerRoot_run_expired(ORTEDomain *d,
- ul_htim_time_t *pact_time) {
+ ObjectEntry, \
+ HTimFncRootNode, \
+ htimRoot, \
+ htim)
+void
+htimerRoot_run_expired(ORTEDomain *d,
+ ul_htim_time_t *pact_time)
+{
HTimFncRootNode *timer;
-
- debug(2,10) ("htimerRoot: start\n");
- while((timer=htimerRoot_cut_expired(&d->objectEntry, pact_time))){
- debug(2,10) ("htimerRoot: AID-0x%x\n",timer->objectEntryAID->aid);
- timer->func(d,timer->objectEntryAID,pact_time);
+
+ debug(2, 10) ("htimerRoot: start\n");
+ while ((timer = htimerRoot_cut_expired(&d->objectEntry, pact_time))) {
+ debug(2, 10) ("htimerRoot: AID-0x%x\n", timer->objectEntryAID->aid);
+ timer->func(d, timer->objectEntryAID, pact_time);
}
- debug(2,10) ("htimerRoot: finished\n");
-}
+ debug(2, 10) ("htimerRoot: finished\n");
+}
/*****************************************************************************/
UL_HTIMER_IMP(htimerUnicastCommon, \
- ObjectEntryAID, \
- HTimFncUserNode, \
- htimUnicast.common, \
- htim)
+ ObjectEntryAID, \
+ HTimFncUserNode, \
+ htimUnicast.common, \
+ htim)
-void
+void
htimerUnicastCommon_update_root_timer(ObjectEntry *objectEntry,
- ObjectEntryAID *objectEntryAID) {
+ ObjectEntryAID *objectEntryAID)
+{
NtpTime nextExpire;
//if first item is changed -> update root timer queue
if (htimerUnicastCommon_first_changed(objectEntryAID)) {
//deatach old timer from this queue (if any)
htimerRoot_detach(objectEntry,
- &objectEntryAID->htimUnicast.commonNode);
- if (htimerUnicastCommon_next_expire(objectEntryAID,&nextExpire)!=0) {
+ &objectEntryAID->htimUnicast.commonNode);
+ if (htimerUnicastCommon_next_expire(objectEntryAID, &nextExpire) != 0) {
//setup new values
- objectEntryAID->htimUnicast.commonNode.func=
- htimerUnicastCommon_run_expired;
- objectEntryAID->htimUnicast.commonNode.objectEntryAID=
- objectEntryAID;
+ objectEntryAID->htimUnicast.commonNode.func =
+ htimerUnicastCommon_run_expired;
+ objectEntryAID->htimUnicast.commonNode.objectEntryAID =
+ objectEntryAID;
htimerRoot_set_expire(
- &objectEntryAID->htimUnicast.commonNode,
- nextExpire);
+ &objectEntryAID->htimUnicast.commonNode,
+ nextExpire);
//insert new timer to root htimer node
htimerRoot_add(objectEntry,
- &objectEntryAID->htimUnicast.commonNode);
- debug(2,10) ("htimerUnicastCommon: root updated, wakeup\n");
+ &objectEntryAID->htimUnicast.commonNode);
+ debug(2, 10) ("htimerUnicastCommon: root updated, wakeup\n");
//wake-up sending thread to process event
ORTEDomainWakeUpSendingThread(objectEntry);
}
}
}
-void
+void
htimerUnicastCommon_run_expired(ORTEDomain *d,
- ObjectEntryAID *objectEntryAID,
- ul_htim_time_t *pact_time) {
+ ObjectEntryAID *objectEntryAID,
+ ul_htim_time_t *pact_time)
+{
HTimFncUserNode *timer;
int retValue;
pthread_rwlock_t *lock;
-
- while((timer=htimerUnicastCommon_cut_expired(objectEntryAID, pact_time))){
- if ((lock=timer->lock)) //after proc. timer->func can be timer freed
+
+ while ((timer = htimerUnicastCommon_cut_expired(objectEntryAID, pact_time))) {
+ if ((lock = timer->lock)) //after proc. timer->func can be timer freed
pthread_rwlock_wrlock(timer->lock);
- debug(2,10) ("htimerUnicastCommon: %s\n",
- timer->name);
- retValue=timer->func(d,timer->arg1);
- if (lock)
+ debug(2, 10) ("htimerUnicastCommon: %s\n",
+ timer->name);
+ retValue = timer->func(d, timer->arg1);
+ if (lock)
pthread_rwlock_unlock(timer->lock);
- if (retValue==2) //object deleted
+ if (retValue == 2) //object deleted
return;
}
- htimerUnicastCommon_update_root_timer(&d->objectEntry,objectEntryAID);
-}
+ htimerUnicastCommon_update_root_timer(&d->objectEntry, objectEntryAID);
+}
/*****************************************************************************/
UL_HTIMER_IMP(htimerUnicastSendMetatraffic, \
- ObjectEntryAID, \
- HTimFncUserNode, \
- htimUnicast.sendMetatraffic, \
- htim)
+ ObjectEntryAID, \
+ HTimFncUserNode, \
+ htimUnicast.sendMetatraffic, \
+ htim)
-void
+void
htimerUnicastSendMetatraffic_update_root_timer(ObjectEntry *objectEntry,
- ObjectEntryAID *objectEntryAID) {
+ ObjectEntryAID *objectEntryAID)
+{
NtpTime nextExpire;
//if first item is changed -> update root timer queue
if (htimerUnicastSendMetatraffic_first_changed(objectEntryAID)) {
//deatach old timer from this queue (if any)
htimerRoot_detach(objectEntry,
- &objectEntryAID->htimUnicast.sendMetatrafficNode);
- if (htimerUnicastSendMetatraffic_next_expire(objectEntryAID,&nextExpire)!=0) {
+ &objectEntryAID->htimUnicast.sendMetatrafficNode);
+ if (htimerUnicastSendMetatraffic_next_expire(objectEntryAID, &nextExpire) != 0) {
//setup new values
- objectEntryAID->htimUnicast.sendMetatrafficNode.func=
- htimerUnicastSendMetatraffic_run_expired;
- objectEntryAID->htimUnicast.sendMetatrafficNode.objectEntryAID=
- objectEntryAID;
+ objectEntryAID->htimUnicast.sendMetatrafficNode.func =
+ htimerUnicastSendMetatraffic_run_expired;
+ objectEntryAID->htimUnicast.sendMetatrafficNode.objectEntryAID =
+ objectEntryAID;
htimerRoot_set_expire(
- &objectEntryAID->htimUnicast.sendMetatrafficNode,
- nextExpire);
+ &objectEntryAID->htimUnicast.sendMetatrafficNode,
+ nextExpire);
//insert new timer to root htimer node
htimerRoot_add(objectEntry,
- &objectEntryAID->htimUnicast.sendMetatrafficNode);
- debug(2,10) ("htimerUnicastMetatraffic: root updated, wakeup\n");
+ &objectEntryAID->htimUnicast.sendMetatrafficNode);
+ debug(2, 10) ("htimerUnicastMetatraffic: root updated, wakeup\n");
//wake-up sending thread to process event
ORTEDomainWakeUpSendingThread(objectEntry);
}
}
}
-void
+void
htimerUnicastSendMetatraffic_run_expired(ORTEDomain *d,
- ObjectEntryAID *objectEntryAID,
- ul_htim_time_t *pact_time) {
+ ObjectEntryAID *objectEntryAID,
+ ul_htim_time_t *pact_time)
+{
HTimFncUserNode *timer;
int retValue;
-
- while((timer=htimerUnicastSendMetatraffic_cut_expired(objectEntryAID, pact_time))){
+
+ while ((timer = htimerUnicastSendMetatraffic_cut_expired(objectEntryAID, pact_time))) {
if (timer->lock)
pthread_rwlock_wrlock(timer->lock);
- debug(2,10) ("htimerUnicastMetatraffic: %s\n",
- timer->name);
- retValue=timer->func(d,timer->arg1);
+ debug(2, 10) ("htimerUnicastMetatraffic: %s\n",
+ timer->name);
+ retValue = timer->func(d, timer->arg1);
while (d->taskSend.mb.needSend) {
- ORTESendData(d,objectEntryAID,ORTE_TRUE);
- timer->func(d,timer->arg1);
+ ORTESendData(d, objectEntryAID, ORTE_TRUE);
+ timer->func(d, timer->arg1);
}
if (timer->lock)
pthread_rwlock_unlock(timer->lock);
}
- htimerUnicastSendMetatraffic_update_root_timer(&d->objectEntry,objectEntryAID);
- if (d->taskSend.mb.cdrCodec.wptr>RTPS_HEADER_LENGTH) {
- ORTESendData(d,objectEntryAID,ORTE_TRUE);
+ htimerUnicastSendMetatraffic_update_root_timer(&d->objectEntry, objectEntryAID);
+ if (d->taskSend.mb.cdrCodec.wptr > RTPS_HEADER_LENGTH) {
+ ORTESendData(d, objectEntryAID, ORTE_TRUE);
}
-}
+}
/*****************************************************************************/
UL_HTIMER_IMP(htimerUnicastSendUserData, \
- ObjectEntryAID, \
- HTimFncUserNode, \
- htimUnicast.sendUserData, \
- htim)
+ ObjectEntryAID, \
+ HTimFncUserNode, \
+ htimUnicast.sendUserData, \
+ htim)
-void
+void
htimerUnicastSendUserData_update_root_timer(ObjectEntry *objectEntry,
- ObjectEntryAID *objectEntryAID) {
+ ObjectEntryAID *objectEntryAID)
+{
NtpTime nextExpire;
//if first item is changed -> update root timer queue
if (htimerUnicastSendUserData_first_changed(objectEntryAID)) {
//deatach old timer from this queue (if any)
htimerRoot_detach(objectEntry,
- &objectEntryAID->htimUnicast.sendUserDataNode);
- if (htimerUnicastSendUserData_next_expire(objectEntryAID,&nextExpire)!=0) {
+ &objectEntryAID->htimUnicast.sendUserDataNode);
+ if (htimerUnicastSendUserData_next_expire(objectEntryAID, &nextExpire) != 0) {
//setup new values
- objectEntryAID->htimUnicast.sendUserDataNode.func=
- htimerUnicastSendUserData_run_expired;
- objectEntryAID->htimUnicast.sendUserDataNode.objectEntryAID=
- objectEntryAID;
+ objectEntryAID->htimUnicast.sendUserDataNode.func =
+ htimerUnicastSendUserData_run_expired;
+ objectEntryAID->htimUnicast.sendUserDataNode.objectEntryAID =
+ objectEntryAID;
htimerRoot_set_expire(
- &objectEntryAID->htimUnicast.sendUserDataNode,
- nextExpire);
+ &objectEntryAID->htimUnicast.sendUserDataNode,
+ nextExpire);
//insert new timer to root htimer node
htimerRoot_add(objectEntry,
- &objectEntryAID->htimUnicast.sendUserDataNode);
- debug(2,10) ("htimerUnicastUserdata: root updated, wakeup\n");
+ &objectEntryAID->htimUnicast.sendUserDataNode);
+ debug(2, 10) ("htimerUnicastUserdata: root updated, wakeup\n");
//wake-up sending thread to process event
ORTEDomainWakeUpSendingThread(objectEntry);
}
}
}
-void
+void
htimerUnicastSendUserData_run_expired(ORTEDomain *d,
- ObjectEntryAID *objectEntryAID,
- ul_htim_time_t *pact_time) {
+ ObjectEntryAID *objectEntryAID,
+ ul_htim_time_t *pact_time)
+{
HTimFncUserNode *timer;
int retValue;
-
- while((timer=htimerUnicastSendUserData_cut_expired(objectEntryAID, pact_time))){
+
+ while ((timer = htimerUnicastSendUserData_cut_expired(objectEntryAID, pact_time))) {
if (timer->lock)
pthread_rwlock_wrlock(timer->lock);
- retValue=timer->func(d,timer->arg1);
+ retValue = timer->func(d, timer->arg1);
while (d->taskSend.mb.needSend) {
- ORTESendData(d,objectEntryAID,ORTE_FALSE);
- timer->func(d,timer->arg1);
+ ORTESendData(d, objectEntryAID, ORTE_FALSE);
+ timer->func(d, timer->arg1);
}
if (timer->lock)
pthread_rwlock_unlock(timer->lock);
}
- htimerUnicastSendUserData_update_root_timer(&d->objectEntry,objectEntryAID);
- if (d->taskSend.mb.cdrCodec.wptr>RTPS_HEADER_LENGTH) {
- ORTESendData(d,objectEntryAID,ORTE_FALSE);
+ htimerUnicastSendUserData_update_root_timer(&d->objectEntry, objectEntryAID);
+ if (d->taskSend.mb.cdrCodec.wptr > RTPS_HEADER_LENGTH) {
+ ORTESendData(d, objectEntryAID, ORTE_FALSE);
}
}
/*********************************************************************/
NtpTime
-getActualNtpTime(void) {
+getActualNtpTime(void)
+{
NtpTime result;
+
#ifndef CONFIG_ORTE_RT
struct timeval time;
- gettimeofday(&time,NULL);
- NtpTimeAssembFromUs(result,time.tv_sec,time.tv_usec);
- NtpTimeAssembFromUs(result,time.tv_sec,time.tv_usec);
+ gettimeofday(&time, NULL);
+ NtpTimeAssembFromUs(result, time.tv_sec, time.tv_usec);
+ NtpTimeAssembFromUs(result, time.tv_sec, time.tv_usec);
#else
struct timespec time;
clock_gettime(CLOCK_REALTIME, &time);
- time.tv_nsec/=1000; //conver to us
- NtpTimeAssembFromUs(result,time.tv_sec,time.tv_nsec);
+ time.tv_nsec /= 1000; //conver to us
+ NtpTimeAssembFromUs(result, time.tv_sec, time.tv_nsec);
#endif
return result;
}
projects / orte.git / blobdiff