rtos.hpp

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#ifndef RTOS_H
#define RTOS_H

#include <any>
#include <functional>
#include <thread>

#include <errno.h>
#include <string.h>

#include "debug.hpp"
#include "fifo.hpp"

namespace RT::OS
{

const int64_t SECONDS_TO_NANOSECONDS =
 1000000000; // Conversion from sec to nsec
const int64_t DEFAULT_PERIOD = 1000000; // Default period is set to 1 msec
const uint64_t DEFAULT_FIFO_SIZE = 255; // Default Fifo size of 255 bytes
const size_t PROCESSOR_COUNT = std::thread::hardware_concurrency();
struct Task
{
 int64_t period = DEFAULT_PERIOD;
 int64_t next_t = 0;
 bool task_finished = false;
 std::thread rt_thread;
 std::any thread_id;
};

int initiate(RT::OS::Task* task);

void shutdown(RT::OS::Task* task);

void deleteTask(Task* task);

int setPeriod(Task* task, int64_t period);

int64_t getPeriod();

void sleepTimestep(Task* task);

bool isRealtime();

int64_t getTime();

double getCpuUsage();

int createTask(Task* task, void (*func)(void*), void* arg);

void renameOSThread(std::thread& thread, const std::string& name);
} // namespace RT::OS

#endif