[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.17,1.18 rtapi.h,1.15,1.16 sim_rtapi.c,1.6,1.7

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv4147/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h sim_rtapi.c 
Log Message:
Checks on rtapi_task_start() start time made..

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** rtai_rtapi.c	10 Aug 2003 22:44:11 -0000	1.17
--- rtai_rtapi.c	10 Aug 2003 23:52:35 -0000	1.18
***************
*** 397,403 ****
    }
  
    if (period_nsec > 0) {
      /* start the task in periodic mode */
!     retval = rt_task_make_periodic(&(task->ostask), rt_get_time(),
  				   nano2count((RTIME) period_nsec));
      if (retval != 0) {
--- 397,410 ----
    }
  
+   if (when == NOW) {
+     when = rt_get_time() + 5;	/* give it time to get the task running */
+   } else {
+     if (when < (rt_get_time() + 5)) {
+       return RTAPI_LATE;
+     }
+   }
    if (period_nsec > 0) {
      /* start the task in periodic mode */
!     retval = rt_task_make_periodic(&(task->ostask), when,
  				   nano2count((RTIME) period_nsec));
      if (retval != 0) {

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** rtapi.h	10 Aug 2003 22:44:11 -0000	1.15
--- rtapi.h	10 Aug 2003 23:52:35 -0000	1.16
***************
*** 220,223 ****
--- 220,224 ----
  #define RTAPI_NO_FP   0
  #define RTAPI_USES_FP 1
+ #define NOW 0
  
  extern int rtapi_task_start(rtapi_task_handle task,
***************
*** 358,361 ****
--- 359,369 ----
  extern int rtapi_fifo_delete(rtapi_fifo_handle fifo);
  
+ 
+ /** FIFO notes. These comments apply to both read and write functions. *
+ * A fifo is a character device, an int is typically four bytes long... *
+ * If less than four bytes are sent to the fifo, expect corrupt data    *
+ * out of the other end !                                               *
+ * The RTAI programming manual clearly states that the programmer is    *
+ * responsible for the data format and integrity.                       */
  
  /** 'rtapi_fifo_read()' reads data from 'fifo'.  'buf' is a buffer for *

Index: sim_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/sim_rtapi.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** sim_rtapi.c	9 Aug 2003 19:43:09 -0000	1.6
--- sim_rtapi.c	10 Aug 2003 23:52:35 -0000	1.7
***************
*** 172,176 ****
  		     int arg, int prio,
  		     unsigned long int stacksize,
! 		     unsigned long int period_nsec, unsigned char uses_fp)
  {
    int retval;
--- 172,177 ----
  		     int arg, int prio,
  		     unsigned long int stacksize,
! 		     unsigned long int period_nsec,
! 		     unsigned long long when, unsigned char uses_fp)
  {
    int retval;