typename VISITOR::return_type invoke_worker(VISITOR visitoz, std::type_index active_type, packed_union<T, Ts...> packed_uny)
{
if(std::type_index(typeid(T)) == active_type)
{
visitoz(packed_uny.uny.car);
}
else
{
invoke_worker(visitoz, active_type, packed_uny.uny.cdr);
}
}
static void process_impl(uv_work_t * work_req)
{
Worker & worker = *static_cast<Worker *>(work_req->data);
worker.error = keyword::undefined;
try
{
// call process w/ stored args
invoke_worker(&Worker::process, worker, worker.stored_args);
}
catch (std::exception const& x)
{
// store error
worker.error = x.what();
}
catch (...)
{
// store unknown error
worker.error = "Unknown error.";
}
}
int ArtExecutionContext::svc(void)
{
int usec(m_period.sec() * 1000000 + m_period.usec());
if (art_enter(ART_PRIO_MAX-1, ART_TASK_PERIODIC, usec) == -1)
{
std::cerr << "fatal error: art_enter" << std::endl;
}
do
{
std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
// while (!m_running) {ACE_OS::sleep(tv);}
if (art_wait() == -1)
{
std::cerr << "fatal error: art_wait " << std::endl;
}
} while (m_running);
if (art_exit() == -1)
{
std::cerr << "fatal error: art_exit" << std::endl;
}
return 0;
}
typename VISITOR::return_type invoke(VISITOR visitoz, algebraic_datatype<T1, Ts...> ad)
{
invoke_worker(visitoz, ad.active_type, ad.packed_uny);
}
/*!
* @if jp
* @brief ExecutionContext 用のスレッド実行関数
* @else
* @brief Thread execution function for ExecutionContext
* @endif
*/
int RTPreemptEC::svc(void)
{
// schedulaer setting
struct sched_param param;
param.sched_priority = m_priority;
if(sched_setscheduler(0, m_policy, ¶m) == -1)
{
std::cerr << "sched_setscheduler failed" << std::endl;
return -1;
}
// memory locking
if(mlockall(MCL_CURRENT | MCL_FUTURE) == -1)
{
std::cerr << "mlockall failed" << std::endl;
return -1;
}
// stack preallocation
unsigned char dummy[MAX_SAFE_STACK];
memset(&dummy, 0, MAX_SAFE_STACK);
struct timespec t0, t1, t;
do
{
clock_gettime(CLOCK_MONOTONIC ,&t0);
m_worker.mutex_.lock();
while (!m_worker.running_)
{
m_worker.cond_.wait();
}
if (m_worker.running_)
{
std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
}
m_worker.mutex_.unlock();
clock_gettime(CLOCK_MONOTONIC ,&t1);
if (!m_nowait)
{
if (t0.tv_nsec > t1.tv_nsec)
{
t.tv_nsec = m_period.usec() * 1000
- (NSEC_PER_SEC - t0.tv_nsec + t1.tv_nsec) + m_waitoffset;
t.tv_sec = m_period.sec()
- (t1.tv_sec - 1 - t0.tv_sec);
}
else
{
t.tv_nsec = m_period.usec() * 1000
- (t1.tv_nsec - t0.tv_nsec) + m_waitoffset;
t.tv_sec = m_period.sec()
- (t1.tv_sec - t0.tv_sec);
}
if (t.tv_nsec < 0 || t.tv_sec < 0)
{
std::cerr << "faital error: deadline passed. " << std::endl;
std::cerr << "Wait time: ";
std::cerr << t.tv_sec << "[s], ";
std::cerr << t.tv_nsec << "[ns]" << std::endl;
std::cerr << "Next wait time force to: 0.0 [s]" << std::endl;
continue;
}
clock_nanosleep(CLOCK_MONOTONIC, !TIMER_ABSTIME, &t, NULL);
}
} while (m_svc);
return 0;
}
