os_interface.hpp File Reference

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <string.h>
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <limits.h>
#include <real_time_tools/timer.hpp>
#include <iostream>
#include <sstream>
#include <mutex>
#include <condition_variable>
#include <sys/mman.h>

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Namespaces
	osi
	Common include.

Macros
#define	rt_fprintf   fprintf
	Create a common type_def to wrap xenomai and posix.
#define	rt_printf   printf
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_socket   socket
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_ioctl   ioctl
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_close   close
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_setsockopt   setsockopt
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_bind   bind
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_recvmsg   recvmsg
	Create a common type_def to wrap xenomai and posix.
#define	rt_dev_sendto   sendto
	Create a common type_def to wrap xenomai and posix.

Typedefs
typedef struct can_frame	can_frame_t
	xeno specific include More...
typedef canid_t	can_id_t
	Create a common type_def to wrap xenomai and posix.
typedef uint64_t	nanosecs_abs_t
	Create a common type_def to wrap xenomai and posix.
typedef std::mutex	osi::Mutex
	Wrapper around the posix specific Mutex implementation.
typedef std::condition_variable	osi::ConditionVariable
	Wrapper around the posix specific ConditionVariable implementation.

Functions
void	osi::send_to_can_device (int fd, const void *buf, size_t len, int flags, const struct sockaddr *to, socklen_t tolen)
	Use the osi workspace API to communicate with the can bus. More...
void	osi::close_can_device (int socket)
	This function is closing a socket on the Can device. More...
void	osi::receive_message_from_can_device (int fd, struct msghdr *msg, int flags)
	Poll? a message from the CAN device. More...
void	osi::initialize_realtime_printing ()
	This function is needed in xenomai to initialize the real time console display of text.
void	osi::sleep_ms (const double &sleep_time_ms)
	This function uses eather the xenomai API or the posix one. More...
double	osi::get_current_time_ms ()
	Get the current time in millisecond. More...
void	osi::make_this_thread_realtime ()
	This methd is requiered in xenomai to create a real time thread.

Detailed Description

Author

Manuel Wuthrich (manue.nosp@m.l.wu.nosp@m.thric.nosp@m.h@gm.nosp@m.ail.c.nosp@m.om)

Maximilien Naveau (maxim.nosp@m.ilie.nosp@m.n.nav.nosp@m.eau@.nosp@m.gmail.nosp@m..com)

Version

0.1

Date

2018-11-27

Copyright

Copyright (c) 2018

Typedef Documentation

can_frame_t

typedef struct can_frame can_frame_t

xeno specific include

Define typedefs to make code compatible with Xenomai code. Create a common type_def to wrap xenomai and posix.