osal/include/ros_os.h File Reference

ROS Serial C OS abstraction layer. More...

#include "ros_types.h"

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Functions
rosReturnCode_t	osInit ()
	Initialize OS.
rosReturnCode_t	osLockCritical ()
	Lock OS critical.
rosReturnCode_t	osUnlockCritical ()
	Unlock OS critical.
void	osMSleep (uint32_t ms)
	Sleep milliseconds.
void	osUSleep (uint32_t us)
	Sleep microseconds.
void	osDelayUntil (uint32_t *last_wake_time, uint32_t time_increment)
	Delay OS until given timestamp.
rosReturnCode_t	osStartNode (osROSNode_t *node)
	Start ROS Node in OS way.

---

Detailed Description

ROS Serial C OS abstraction layer.

Date:

04/19/2013

Author:

Peter Rudolph

THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.

Copyright:

Peter Rudolph, 2013. All rights reserved.

License:

This library is released under LGPLv3.

---

Function Documentation

void osDelayUntil	(	uint32_t *	last_wake_time,
		uint32_t	time_increment
	)

Delay OS until given timestamp.

Delay OS from last wake time until achieving given time increment. To work as thought last_wake_time has to be updated every time, the function is called. While using OS, the implemention is needed by rosSleepRate(rosRate* rate).

Parameters:

last_wake_time	Last time thread was woken up.
time_increment	Delay till next wake up.

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rosReturnCode_t osInit

(

)

Initialize OS.

If your OS needs to initialize something special you can do it here.

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rosReturnCode_t osLockCritical

(

)

Lock OS critical.

While message operations on interfaces are done OS needs to be locked.

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void osMSleep

(

uint32_t

ms

)

Sleep milliseconds.

Sleep given time in milliseconds.

Parameters:

ms	Milliseconds to sleep.

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rosReturnCode_t osStartNode

(

osROSNode_t *

node

)

Start ROS Node in OS way.

Wrapper for starting a ROS Node as a OS task. This function can be called automatically by defining ROS_START_NODES_WITH_OS.

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rosReturnCode_t osUnlockCritical

(

)

Unlock OS critical.

Unlock previously locked OS.

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void osUSleep

(

uint32_t

us

)

Sleep microseconds.

Sleep given time in microseconds.

Parameters:

us	Microseconds to sleep.