AuxTaskNonRT.h

/***** AuxTaskNonRT.h *****/
#ifndef __AuxTaskNonRT_H_INCLUDED__
#define __AuxTaskNonRT_H_INCLUDED__ 
 
#ifdef XENOMAI_SKIN_native
#include <rtdk.h>
#include <native/task.h>
#include <native/pipe.h>
#endif
 
#ifdef XENOMAI_SKIN_posix
#include <pthread.h>
#endif
 
#include <string>
#include <functional>
 
#define AUX_MAX_BUFFER_SIZE 500000
 
class AuxTaskNonRT{
        public:
                AuxTaskNonRT(){}
                AuxTaskNonRT(std::string _name, std::function<void()> callback){ create(_name, callback); }
                AuxTaskNonRT(std::string _name, std::function<void(std::string str)> callback){ create(_name, callback); }
                AuxTaskNonRT(std::string _name, std::function<void(void* buf, int size)> callback){ create(_name, callback); }
                ~AuxTaskNonRT(){ cleanup(); }
                
                void create(std::string _name, std::function<void()> callback);
                void create(std::string _name, std::function<void(std::string str)> callback);
                void create(std::string _name, std::function<void(void* buf, int size)> callback);
                
                int schedule(const void* ptr, size_t size);
                int schedule(const char* str);
                int schedule();
                
        private:
                bool lShouldStop = false;
                bool shouldStop();
                void cleanup();
                
#ifdef XENOMAI_SKIN_native
                RT_TASK task;
                RT_PIPE pipe;
#endif
#ifdef XENOMAI_SKIN_posix
                pthread_t thread;
                int pipeSocket;
#endif
                
                std::string name;
                int pipe_fd;
                int mode;
                
                void __create();
                int openPipe();
                
                std::function<void()> empty_callback;
                std::function<void(std::string str)> str_callback;
                std::function<void(void* buf, int size)> buf_callback;
                
                void empty_loop();
                void str_loop();
                void buf_loop();
                
                static void thread_func(void* ptr);
};
 
#endif