#include <rtaisolver.h>

Inheritance diagram for RTAISolver:

Collaboration diagram for RTAISolver:

Public Member Functions
	RTAISolver (Solver *pS, RTMode eRTMode, long long lRTPeriod, unsigned long RTStackSize, bool bRTAllowNonRoot, int RTCpuMap, bool bRTHard, bool bRTlog, const std::string &LogProcName)

	~RTAISolver (void)

std::ostream &	Restart (std::ostream &out) const

void	Setup (void)

void	Init (void)

bool	IsStopCommanded (void)

void	StopCommanded (void)

void	Log (void)

void	Wait (void)

Public Member Functions inherited from RTSolverBase
	RTSolverBase (Solver *pS, RTMode eRTMode, unsigned long lRTPeriod, unsigned long RTStackSize, bool bRTAllowNonRoot, int RTCpuMap, bool bNoOutput=true)

virtual	~RTSolverBase (void)

Private Attributes
bool	bRTHard

bool	bRTlog

const std::string	LogProcName

long long	lRTPeriod

void *	RTSemPtr_in

void *	RTSemPtr_out

void *	mbxlog

int	RTStpFlag

int	t_tot

long long	t0

long long	t1

int	or_counter

Additional Inherited Members
Public Types inherited from RTSolverBase
enum	RTMode { MBRT_UNKNOWN = -1, MBRT_WAITPERIOD, MBRT_SEMAPHORE, MBRT_IO, MBRT_LASTMODE }

Protected Member Functions inherited from RTSolverBase
bool	RTWaitPeriod (void) const

bool	RTSemWait (void) const

bool	RTBlockingIO (void) const

Protected Attributes inherited from RTSolverBase
Solver *	pS

RTMode	eRTMode

unsigned long	lRTPeriod

unsigned long	RTStackSize

bool	bRTAllowNonRoot

int	RTCpuMap

bool	bNoOutput

volatile int	RTSteps

Detailed Description

Definition at line 39 of file rtaisolver.h.

Constructor & Destructor Documentation

RTAISolver::RTAISolver	(	Solver *	pS,
		RTMode	eRTMode,
		long long	lRTPeriod,
		unsigned long	RTStackSize,
		bool	bRTAllowNonRoot,
		int	RTCpuMap,
		bool	bRTHard,
		bool	bRTlog,
		const std::string &	LogProcName
	)

Definition at line 50 of file rtaisolver.cc.

References ASSERT.

 : RTSolverBase(pS, eRTMode, lRTPeriod,
         RTStackSize, bRTAllowNonRoot, RTCpuMap),
 bRTHard(bRTHard),
 bRTlog(bRTlog),
 LogProcName(LogProcName),
 lRTPeriod(lRTPeriod),
 RTSemPtr_in(0),
 RTSemPtr_out(0),
 mbxlog(0),
 RTStpFlag(0),
 t_tot(0),
 t0(0),
 t1(0),
 or_counter(0)
 {
         ASSERT(lRTPeriod > 0);
         ASSERT(!bRTlog || !LogProcName.empty());
 }

RTAISolver::~RTAISolver ( void )

Definition at line 78 of file rtaisolver.cc.

References mbxlog.

 {
         if (mbxlog) {
                 rtmbdyn_rt_mbx_delete(&mbxlog);
                 mbxlog = 0;
         }
 }

Member Function Documentation

void RTAISolver::Init ( void )

virtual

Reimplemented from RTSolverBase.

Definition at line 148 of file rtaisolver.cc.

References ASSERT, RTSolverBase::bRTAllowNonRoot, bRTlog, RTSolverBase::Init(), LogProcName, lRTPeriod, MBDYN_EXCEPT_ARGS, mbxlog, msg, RTSolverBase::RTCpuMap, RTSemPtr_in, RTSemPtr_out, RTSolverBase::RTSemWait(), and RTSolverBase::RTWaitPeriod().

 {
         /* Need timer */
         if (!rtmbdyn_rt_is_hard_timer_running()) {
                 /* FIXME: ??? */
                 silent_cout("RTAISolver: Hard timer is started by MBDyn"
                         << std::endl);
                 rtmbdyn_rt_set_oneshot_mode();
                 rtmbdyn_start_rt_timer(rtmbdyn_nano2count(1000000));
         }
 
         /*
          * MBDyn can work in two ways:
          * - internal timer
          * - scheduled by an external signal
          * only the first case is currently implemented
          */
         if (RTWaitPeriod()) {
                 long long t = rtmbdyn_rt_get_time();
                 int r;
 
                 /* Timer should be init'ed */
                 ASSERT(t > 0);
 
                 silent_cout("RTAISolver: Task: " << ::rtmbdyn_rtai_task
                         << "; time: " << t
                         << "; period: " << lRTPeriod
                         << std::endl);
 
                 // NOTE: the period was in nanoseconds until now.
                 lRTPeriod = rtmbdyn_nano2count(lRTPeriod);
 
                 r = rtmbdyn_rt_task_make_periodic(::rtmbdyn_rtai_task,
                         t, lRTPeriod);
 
                 if (r) {
                         silent_cerr("RTAISolver: "
                                 "rtmbdyn_rt_task_make_periodic() failed "
                                 "(" << r << ")" << std::endl);
                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                 }
 
 #if 0
         } else if (RTSemWait()) {
                 int r;
 
                 /* FIXME: check args
                  * name should be configurable?
                  * initial value 0: non-blocking
                  */
                 r = rtmbdyn_rt_sem_init("MBDSMI", 0, &RTSemPtr_in);
                 if (r) {
                         silent_cerr("rt_sem_init() failed ("
                                 << r << ")" << std::endl);
                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                 }
 
                 /* FIXME: check args
                  * name should be configurable?
                  * initial value 0: non-blocking
                  */
                 r = rtmbdyn_rt_sem_init("MBDSMO", 0, &RTSemPtr_out);
                 if (r) {
                         silent_cerr("rt_sem_init() failed ("
                                 << r << ")" << std::endl);
                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                 }
 #endif
         }
 
         /* FIXME: should check whether RTStackSize is correctly set? */
         if (bRTlog) {
                 silent_cout("RTAISolver: MBDyn starts overruns monitor "
                         "(proc: \"" << LogProcName << "\")"
                         << std::endl);
 
                 const char *mbxlogname = "logmb";
                 if (rtmbdyn_rt_mbx_init(mbxlogname, sizeof(msg)*16, &mbxlog)) {
                         bRTlog = false;
                         silent_cerr("RTAISolver: cannot init log mailbox "
                                 "\"" << mbxlogname << "\""
                                 << std::endl);
 
                 } else {
                         const char *nonroot =
                                 bRTAllowNonRoot ? "TRUE" : "FALSE";
 
                         switch (fork()) {
                         case 0: {
                                 char LogCpuMap[] = "0xFF";
 
                                 if (RTCpuMap != 0xFF) {
                                         /* MBDyn can use any cpu
                                          * The overruns monitor will use any free cpu */
                                         snprintf(LogCpuMap, sizeof(LogCpuMap),
                                                 "0x%02X", ~RTCpuMap);
                                 }
 
                                 if (strcmp(LogProcName.c_str(), "logproc") != 0) {
                                         if (execl(LogProcName.c_str(), LogProcName.c_str(),
                                                 "MBDTSK", mbxlogname,
                                                 LogCpuMap, nonroot, NULL) == 0)
                                         {
                                                 break;
                                         }
 
                                         /* error */
                                         silent_cout("RTAISolver: cannot start "
                                                 "log procedure "
                                                 "\"" << LogProcName << "\"; "
                                                 "using default" << std::endl);
                                 }
 
 #ifdef HAVE_SETENV
                                 /* sets new path */
                                 /* BINPATH is the ${bindir} variable
                                  * at configure time, defined in
                                  * include/mbdefs.h.in */
                                 char *origpath = getenv("PATH");
                                 if (origpath == 0) {
                                         /* ?!? */
                                         setenv("PATH", ".:" BINPATH, 1);
 
                                 } else {
                                         std::string newpath = ".:" BINPATH ":";
                                         newpath += origpath;
                                         setenv("PATH", newpath.c_str(), 1);
                                 }
 #endif // HAVE_SETENV
 
                                 /* start logger */
                                 if (execlp("logproc", "logproc", "MBDTSK",
                                         mbxlogname, LogCpuMap, nonroot, NULL)
                                         == -1)
                                 {
                                         silent_cout("RTAISolver: cannot start default "
                                                 "log procedure \"logproc\""
                                                 << std::endl);
                                         /* FIXME: better give up logging? */
                                         bRTlog = false;
                                 }
                                 break;
                         }
 
                         case -1:
                                 silent_cerr("Cannot init log procedure" << std::endl);
                                 bRTlog = false;
                                 break;
 
                         default:
                                 rtmbdyn_rt_sleep(rtmbdyn_nano2count(1000000000));
                                 break;
                         }
                 }
         }
 
         RTSolverBase::Init();
 }

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bool RTAISolver::IsStopCommanded ( void )

virtual

Reimplemented from RTSolverBase.

Definition at line 309 of file rtaisolver.cc.

References RTStpFlag, and StopCommanded().

 {
         if (RTStpFlag == 1) {
                 StopCommanded();
         }
 
         return (RTStpFlag != 0);
 }

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void RTAISolver::Log ( void )

virtual

Implements RTSolverBase.

Definition at line 329 of file rtaisolver.cc.

References or_counter, and t_tot.

 {
         silent_cout("total overruns: " << or_counter  << std::endl
                   << "total overrun time: " << t_tot << " micros" << std::endl);
 }

std::ostream & RTAISolver::Restart ( std::ostream & out ) const

virtual

Implements RTSolverBase.

Definition at line 88 of file rtaisolver.cc.

References RTSolverBase::bRTAllowNonRoot, bRTHard, bRTlog, RTSolverBase::eRTMode, LogProcName, lRTPeriod, MBDYN_EXCEPT_ARGS, RTSolverBase::MBRT_SEMAPHORE, RTSolverBase::MBRT_WAITPERIOD, RTSolverBase::RTCpuMap, and RTSolverBase::RTStackSize.

 {
         out << "RTAI";
 
         out << ", reserve stack, " << RTStackSize;
 
         out << ", mode, ";
         switch (eRTMode) {
         case RTAISolver::MBRT_WAITPERIOD:
                 out << "period, time step, " << lRTPeriod;
                 break;
 
         case RTAISolver::MBRT_SEMAPHORE:
                 out << "semaphore";
                 break;
 
         default:
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         if (bRTAllowNonRoot) {
                 out << ", allow nonroot";
         }
 
         if (RTCpuMap != 0xFF) {
                 out << ", cpu map, " << RTCpuMap;
         }
 
         if (bRTHard) {
                 out << ", hard realtime";
         }
 
         if (bRTlog) {
                 out << ", realtime log, \"" << LogProcName << "\"";
         }
 
         return out;
 }

void RTAISolver::Setup ( void )

virtual

Implements RTSolverBase.

Definition at line 129 of file rtaisolver.cc.

References ASSERT, RTSolverBase::bRTAllowNonRoot, MBDYN_EXCEPT_ARGS, and RTSolverBase::RTCpuMap.

 {
         if (bRTAllowNonRoot) {
                 rtmbdyn_rt_allow_nonroot_hrt();
         }
 
         ASSERT(::rtmbdyn_rtai_task == 0);
 
         /* Init RTAI; if init'ed, it will be shut down at exit */
         if (rtmbdyn_rt_task_init("MBDTSK", 1, 0, 0, RTCpuMap,
                 &::rtmbdyn_rtai_task))
         {
                 silent_cerr("RTAISolver: unable to init RTAI task" << std::endl);
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 }

void RTAISolver::StopCommanded ( void )

virtual

Implements RTSolverBase.

Definition at line 320 of file rtaisolver.cc.

References bRTHard.

Referenced by IsStopCommanded().

 {
         if (bRTHard) {
                 rtmbdyn_rt_make_soft_real_time();
         }
 }

void RTAISolver::Wait ( void )

virtual

Implements RTSolverBase.

Definition at line 337 of file rtaisolver.cc.

References bRTHard, bRTlog, lRTPeriod, mbxlog, msg, or_counter, RTSemPtr_in, RTSolverBase::RTSemWait(), RTSolverBase::RTSteps, RTStpFlag, RTSolverBase::RTWaitPeriod(), mbrtai_msg_t::step, t0, t1, t_tot, and mbrtai_msg_t::time.

 {
         rtmbdyn_rt_receive_if(NULL, &RTStpFlag);
 
         t1 = rtmbdyn_rt_get_time();
         if (RTSteps >= 2 && t1 > (t0 + lRTPeriod)) {
                 or_counter++;
                 t_tot = t_tot + rtmbdyn_count2nano(t1 - t0 - lRTPeriod)/1000;
 
                 if (bRTlog) {
                         msg.step = RTSteps;
                         msg.time = (int)rtmbdyn_count2nano(t1 - t0 - lRTPeriod)/1000;
 
                         rtmbdyn_RT_mbx_send_if(0, 0, mbxlog, &msg, sizeof(msg));
                 }
         }
 
         if (RTWaitPeriod()) {
                 rtmbdyn_rt_task_wait_period();
 
 #if 0
         } else if (RTSemWait()) {
                 /* FIXME: semaphore must be configurable */
                 mbdyn_rt_sem_wait(RTSemPtr_in);
 #endif
         } /* else RTBlockingIO(): do nothing */
 
         t0 = rtmbdyn_rt_get_time();
 
         if (RTSteps == 2 && bRTHard) {
                 /* make hard real time */
                 rtmbdyn_rt_make_hard_real_time();
         }
 
         RTSteps++;
 }

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Member Data Documentation

bool RTAISolver::bRTHard

private

Definition at line 41 of file rtaisolver.h.

Referenced by Restart(), StopCommanded(), and Wait().

bool RTAISolver::bRTlog

private

Definition at line 42 of file rtaisolver.h.

Referenced by Init(), Restart(), and Wait().

const std::string RTAISolver::LogProcName

private

Definition at line 43 of file rtaisolver.h.

Referenced by Init(), and Restart().

long long RTAISolver::lRTPeriod

private

Definition at line 45 of file rtaisolver.h.

Referenced by Init(), Restart(), and Wait().

void* RTAISolver::mbxlog

private

Definition at line 51 of file rtaisolver.h.

Referenced by Init(), Wait(), and ~RTAISolver().

int RTAISolver::or_counter

private

Definition at line 55 of file rtaisolver.h.

Referenced by Log(), and Wait().

void* RTAISolver::RTSemPtr_in

private

Definition at line 48 of file rtaisolver.h.

Referenced by Init(), and Wait().

void* RTAISolver::RTSemPtr_out

private

Definition at line 49 of file rtaisolver.h.

Referenced by Init().

int RTAISolver::RTStpFlag

private

Definition at line 52 of file rtaisolver.h.

Referenced by IsStopCommanded(), and Wait().

long long RTAISolver::t0

private

Definition at line 54 of file rtaisolver.h.

Referenced by Wait().

long long RTAISolver::t1

private

Definition at line 54 of file rtaisolver.h.

Referenced by Wait().

int RTAISolver::t_tot

private

Definition at line 53 of file rtaisolver.h.

Referenced by Log(), and Wait().

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation