| Directory: | ./ |
|---|---|
| File: | pdserv-1.1.0/src/lib/interface.cpp |
| Date: | 2024-12-15 04:08:34 |
| Exec | Total | Coverage | |
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| Lines: | 47 | 73 | 64.4% |
| Branches: | 8 | 34 | 23.5% |
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| 1 | /***************************************************************************** | ||
| 2 | * | ||
| 3 | * $Id$ | ||
| 4 | * | ||
| 5 | * Copyright 2010 Richard Hacker (lerichi at gmx dot net) | ||
| 6 | * | ||
| 7 | * This file is part of the pdserv library. | ||
| 8 | * | ||
| 9 | * The pdserv library is free software: you can redistribute it and/or modify | ||
| 10 | * it under the terms of the GNU Lesser General Public License as published | ||
| 11 | * by the Free Software Foundation, either version 3 of the License, or (at | ||
| 12 | * your option) any later version. | ||
| 13 | * | ||
| 14 | * The pdserv library is distributed in the hope that it will be useful, but | ||
| 15 | * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| 16 | * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public | ||
| 17 | * License for more details. | ||
| 18 | * | ||
| 19 | * You should have received a copy of the GNU Lesser General Public License | ||
| 20 | * along with the pdserv library. If not, see <http://www.gnu.org/licenses/>. | ||
| 21 | * | ||
| 22 | *****************************************************************************/ | ||
| 23 | |||
| 24 | #include "Main.h" | ||
| 25 | #include "Task.h" | ||
| 26 | #include "Signal.h" | ||
| 27 | #include "Event.h" | ||
| 28 | #include "Parameter.h" | ||
| 29 | #include "../DataType.h" | ||
| 30 | #include "pdserv.h" | ||
| 31 | |||
| 32 | typedef std::vector<PdServ::DataType*> CompoundVector; | ||
| 33 | 1 | CompoundVector compoundType; | |
| 34 | |||
| 35 | static const PdServ::DataType& getDataType(int dt); | ||
| 36 | |||
| 37 | ///////////////////////////////////////////////////////////////////////////// | ||
| 38 | 10 | struct pdserv* pdserv_create( const char *name, const char *version, | |
| 39 | int (*gettime)(struct timespec*)) | ||
| 40 | { | ||
| 41 | return reinterpret_cast<struct pdserv*>( | ||
| 42 |
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10 | new Main(name, version, gettime)); |
| 43 | } | ||
| 44 | |||
| 45 | ///////////////////////////////////////////////////////////////////////////// | ||
| 46 | 10 | void pdserv_config_file( struct pdserv* pdserv, const char *name) | |
| 47 | { | ||
| 48 | 10 | reinterpret_cast<Main*>(pdserv)->setConfigFile(name); | |
| 49 | 10 | } | |
| 50 | |||
| 51 | ///////////////////////////////////////////////////////////////////////////// | ||
| 52 | 20 | struct pdtask* pdserv_create_task(struct pdserv* pdserv, double tsample, | |
| 53 | const char *name) | ||
| 54 | { | ||
| 55 | return reinterpret_cast<struct pdtask*>( | ||
| 56 | 20 | reinterpret_cast<Main*>(pdserv)->addTask(tsample, name)); | |
| 57 | } | ||
| 58 | |||
| 59 | ///////////////////////////////////////////////////////////////////////////// | ||
| 60 | ✗ | int pdserv_create_compound( const char *name, size_t size) | |
| 61 | { | ||
| 62 | ✗ | int dt = pd_datatype_end + compoundType.size(); | |
| 63 | ✗ | compoundType.push_back(new PdServ::DataType(name, size)); | |
| 64 | ✗ | return dt; | |
| 65 | } | ||
| 66 | |||
| 67 | ///////////////////////////////////////////////////////////////////////////// | ||
| 68 | ✗ | void pdserv_compound_add_field(int compound, const char *name, | |
| 69 | int data_type, size_t offset, size_t ndims, const size_t *dim) | ||
| 70 | { | ||
| 71 | ✗ | compoundType[compound - pd_datatype_end] | |
| 72 | ✗ | ->addField(name, getDataType(data_type), offset, ndims, dim); | |
| 73 | } | ||
| 74 | |||
| 75 | ///////////////////////////////////////////////////////////////////////////// | ||
| 76 | 10 | void pdserv_exit(struct pdserv* pdserv) | |
| 77 | { | ||
| 78 | 10 | for (CompoundVector::const_iterator it = compoundType.begin(); | |
| 79 |
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10 | it != compoundType.end(); ++it) |
| 80 | ✗ | delete *it; | |
| 81 |
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10 | delete reinterpret_cast<Main*>(pdserv); |
| 82 | 10 | } | |
| 83 | |||
| 84 | ///////////////////////////////////////////////////////////////////////////// | ||
| 85 | 1241 | void pdserv_get_parameters(struct pdserv* pdserv, struct pdtask *task, | |
| 86 | const struct timespec *t) | ||
| 87 | { | ||
| 88 | 1241 | reinterpret_cast<Main*>(pdserv)->getParameters( | |
| 89 | reinterpret_cast<Task*>(task), t); | ||
| 90 | 1241 | } | |
| 91 | |||
| 92 | ///////////////////////////////////////////////////////////////////////////// | ||
| 93 | ✗ | void pdserv_update_statistics(struct pdtask* task, | |
| 94 | double exec_time, double cycle_time, unsigned int overrun) | ||
| 95 | { | ||
| 96 | ✗ | reinterpret_cast<Task*>(task)->updateStatistics( | |
| 97 | exec_time, cycle_time, overrun); | ||
| 98 | } | ||
| 99 | |||
| 100 | ///////////////////////////////////////////////////////////////////////////// | ||
| 101 | 1308 | void pdserv_update(struct pdtask* task, const struct timespec *t) | |
| 102 | { | ||
| 103 | 1308 | reinterpret_cast<Task*>(task)->update(t); | |
| 104 | 1308 | } | |
| 105 | |||
| 106 | ///////////////////////////////////////////////////////////////////////////// | ||
| 107 | 120 | static const PdServ::DataType& getDataType(int dt) | |
| 108 | { | ||
| 109 |
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120 | switch (dt) { |
| 110 | ✗ | case pd_boolean_T: return PdServ::DataType::boolean; | |
| 111 | ✗ | case pd_uint8_T: return PdServ::DataType::uint8; | |
| 112 | ✗ | case pd_uint16_T: return PdServ::DataType::uint16; | |
| 113 | 20 | case pd_uint32_T: return PdServ::DataType::uint32; | |
| 114 | ✗ | case pd_uint64_T: return PdServ::DataType::uint64; | |
| 115 | ✗ | case pd_sint8_T: return PdServ::DataType::int8; | |
| 116 | 10 | case pd_sint16_T: return PdServ::DataType::int16; | |
| 117 | 60 | case pd_sint32_T: return PdServ::DataType::int32; | |
| 118 | ✗ | case pd_sint64_T: return PdServ::DataType::int64; | |
| 119 | 30 | case pd_double_T: return PdServ::DataType::float64; | |
| 120 | ✗ | case pd_single_T: return PdServ::DataType::float32; | |
| 121 | ✗ | default: | |
| 122 | ✗ | return *compoundType[dt - pd_datatype_end]; | |
| 123 | } | ||
| 124 | } | ||
| 125 | |||
| 126 | ///////////////////////////////////////////////////////////////////////////// | ||
| 127 | 20 | const struct pdevent *pdserv_event (struct pdserv* pdserv, const char *path, | |
| 128 | int prio, size_t n, const char **message) | ||
| 129 | { | ||
| 130 | 20 | Main *main = reinterpret_cast<Main*>(pdserv); | |
| 131 | |||
| 132 | 20 | Event *e = main->addEvent(path, prio, n, message); | |
| 133 | |||
| 134 | 20 | return reinterpret_cast<const struct pdevent *>(e); | |
| 135 | } | ||
| 136 | |||
| 137 | ///////////////////////////////////////////////////////////////////////////// | ||
| 138 | 2 | void pdserv_event_set(const struct pdevent *event, | |
| 139 | size_t element, char state, const timespec *t) | ||
| 140 | { | ||
| 141 | 2 | reinterpret_cast<const Event*>(event)->set(element, state != 0, t); | |
| 142 | 2 | } | |
| 143 | |||
| 144 | ///////////////////////////////////////////////////////////////////////////// | ||
| 145 | 60 | struct pdvariable *pdserv_signal( | |
| 146 | struct pdtask* pdtask, | ||
| 147 | unsigned int decimation, | ||
| 148 | const char *path, | ||
| 149 | int datatype, | ||
| 150 | const void *addr, | ||
| 151 | size_t n, | ||
| 152 | const size_t *dim | ||
| 153 | ) | ||
| 154 | { | ||
| 155 | 60 | Task *task = reinterpret_cast<Task*>(pdtask); | |
| 156 | |||
| 157 | 60 | PdServ::Variable *v = task->main->addSignal( | |
| 158 | 60 | task, decimation, path, getDataType(datatype), addr, n, dim); | |
| 159 | |||
| 160 | 60 | return reinterpret_cast<struct pdvariable *>(v); | |
| 161 | } | ||
| 162 | |||
| 163 | ///////////////////////////////////////////////////////////////////////////// | ||
| 164 | 60 | struct pdvariable *pdserv_parameter( | |
| 165 | struct pdserv* pdserv, | ||
| 166 | const char *path, | ||
| 167 | unsigned int mode, | ||
| 168 | int datatype, | ||
| 169 | void *addr, | ||
| 170 | size_t n, | ||
| 171 | const size_t *dim, | ||
| 172 | paramtrigger_t trigger = 0, | ||
| 173 | void *priv_data = 0 | ||
| 174 | ) | ||
| 175 | { | ||
| 176 | 60 | Main *main = reinterpret_cast<Main*>(pdserv); | |
| 177 | |||
| 178 | 60 | Parameter *p = main->addParameter( | |
| 179 | 60 | path, mode, getDataType(datatype), addr, n, dim); | |
| 180 |
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60 | if (trigger) |
| 181 | ✗ | p->trigger = trigger; | |
| 182 | 60 | p->priv_data = priv_data; | |
| 183 | |||
| 184 | return reinterpret_cast<struct pdvariable *> | ||
| 185 | 60 | (static_cast<PdServ::Variable*>(p)); | |
| 186 | } | ||
| 187 | |||
| 188 | ///////////////////////////////////////////////////////////////////////////// | ||
| 189 | ✗ | void pdserv_set_alias(struct pdvariable *var, const char *alias) | |
| 190 | { | ||
| 191 | ✗ | reinterpret_cast<PdServ::Variable*>(var)->alias = alias; | |
| 192 | } | ||
| 193 | |||
| 194 | ///////////////////////////////////////////////////////////////////////////// | ||
| 195 | ✗ | void pdserv_set_unit(struct pdvariable *var, const char *unit) | |
| 196 | { | ||
| 197 | ✗ | reinterpret_cast<PdServ::Variable*>(var)->unit = unit; | |
| 198 | } | ||
| 199 | |||
| 200 | ///////////////////////////////////////////////////////////////////////////// | ||
| 201 | ✗ | void pdserv_set_comment(struct pdvariable *var, const char *comment) | |
| 202 | { | ||
| 203 | ✗ | reinterpret_cast<PdServ::Variable*>(var)->comment = comment; | |
| 204 | } | ||
| 205 | |||
| 206 | ///////////////////////////////////////////////////////////////////////////// | ||
| 207 | 10 | int pdserv_prepare(struct pdserv* pdserv) | |
| 208 | { | ||
| 209 | 10 | return reinterpret_cast<Main*>(pdserv)->run(); | |
| 210 | 3 | } | |
| 211 |