ArtEC-1.1.0.patch
| src/ext/ec/artlinux/ArtExecutionContext.cpp 2012-06-12 18:52:25.216903029 +0900 | ||
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| 29 | 29 |
namespace RTC |
| 30 | 30 |
{
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ArtExecutionContext::ArtExecutionContext() |
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: PeriodicExecutionContext() |
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: PeriodicExecutionContext(), |
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m_priority(ART_PRIO_MAX-1) |
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{
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rtclog.setName("ArtEC");
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coil::Properties& prop(Manager::instance().getConfig()); |
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// Priority |
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getProperty(prop, "exec_cxt.periodic.priority", m_priority); |
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getProperty(prop, "exec_cxt.periodic.art.priority", m_priority); |
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RTC_DEBUG(("Priority: %d", m_priority));
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| 42 | ||
| 34 | 43 |
} |
| 35 | 44 | |
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ArtExecutionContext::~ArtExecutionContext() |
| ... | ... | |
| 41 | 50 |
int ArtExecutionContext::svc(void) |
| 42 | 51 |
{
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int usec(m_period.sec() * 1000000 + m_period.usec()); |
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if (art_enter(ART_PRIO_MAX-1, ART_TASK_PERIODIC, usec) == -1)
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if (art_enter(m_priority, ART_TASK_PERIODIC, usec) == -1)
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| 45 | 54 |
{
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std::cerr << "fatal error: art_enter" << std::endl; |
| 47 | 56 |
} |
| src/ext/ec/artlinux/ArtExecutionContext.h 2012-06-12 18:35:44.618520333 +0900 | ||
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| 38 | 38 |
ArtExecutionContext(); |
| 39 | 39 |
virtual ~ArtExecutionContext(); |
| 40 | 40 |
virtual int svc(void); |
| 41 | ||
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template <class T> |
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void getProperty(coil::Properties& prop, const char* key, T& value) |
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{
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if (prop.findNode(key) != 0) |
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{
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T tmp; |
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if (coil::stringTo(tmp, prop[key].c_str())) |
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{
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value = tmp; |
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} |
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} |
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} |
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private: |
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int m_priority; |
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| 41 | 57 |
}; |
| 42 | 58 |
}; |
| 43 | 59 | |
| src/ext/ec/artlinux/Makefile.am 2012-06-12 18:49:09.984828415 +0900 | ||
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| 19 | 19 |
module_LTLIBRARIES = ArtExecutionContext.la |
| 20 | 20 | |
| 21 | 21 |
ArtExecutionContext_la_SOURCES = ArtExecutionContext.cpp ArtExecutionContext.h |
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ArtExecutionContext_la_LDFLAGS = -module -shared |
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ArtExecutionContext_la_LDFLAGS = -module -shared $(ARTLIB)
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| 23 | 23 |
ArtExecutionContext_la_FLAGS = -L$(top_builddir)/src/lib/rtm/.lib |
| 24 | 24 |
ArtExecutionContext_la_LIBADD = $(top_builddir)/src/lib/rtm/libRTC.la |
| 25 | 25 | |