СИНТАКСИС
#include <hal.h>
int hal_init_funct_to_thread(const char *funct_name, const char *thread_name, int position);АРГУМЕНТИ
- funct_name
-
Назва функції.
- thread_name
-
Назва теми.
- позиція
-
The desired location within the thread. This determines the init order of the running the functions in the thread at startup. A positive number indicates the desired location as measured from the beginning of the thread. A negative number indicated the desired location as measured from the end. A value of +1 means this function will become the first one to run, +5 means it will be the fifth one to run. A value of -2 means it will be next to last, and -1 means it will be last. Zero (0) is an illegal position value.
ОПИС
The hal_init_funct_to_thread() function registers funcname to run exactly once in the realtime context of thread_name. Init functions run before the thread executes any cyclic (addf-registered) function. The init list is invoked in a dedicated "special cycle" the first time the thread observes threads_running == 1. The cyclic function list is skipped during that cycle. After the init list returns, the thread’s period is re-anchored. The next cyclic cycle wakes one full period later. This avoids both spurious "unexpected realtime delay" and assures a clean starting boundary for long/slow init functions.
Calls made to hal_init_funct_to_thread() after the init cycle has already run fail with -EALREADY.
ПОВЕРНЕНЕ ЗНАЧЕННЯ
Returns zero (0) on success. Returns a negative errno code on failure:
| -EPERM |
HAL is config locked. |
| -EINVAL |
An invalid argument was passed. |
| -EFAULT |
The shared memory was not mapped. |
| -ENOENT |
The function or thread does not exist. |
| -EALREADY |
if the thread is already running. |
| -ENOMEM |
Failed to allocate memory for function registration. |
МІРКУВАННЯ В РЕАЛЬНОМУ ЧАСІ
Викликати лише з коду ініціалізації реального часу, а не з іншого коду реального часу або нереального часу.
ДИВІТЬСЯ ТАКОЖ
hal_add_funct_to_thread(3), hal_thread_new(3), hal_export_funct(3)