Getrt command

Author: hdiethelm

src/hal/utils/halcmd.c

@@ -140,6 +140,7 @@ struct halcmd_command halcmd_commands[] = {
     {"delf",    FUNCT(do_delf_cmd, cp_cp),     A_TWO | A_OPTIONAL },
     {"delsig",  FUNCT(do_delsig_cmd, cp),      A_ONE },
     {"debug",   FUNCT(do_set_debug_cmd, cp),   A_ONE },
+    {"getrt",   FUNCT(do_getrt_cmd, v),        A_ZERO },
     {"echo",    FUNCT(do_echo_cmd, v),         A_ZERO },
     {"getp",    FUNCT(do_getp_cmd, cp),        A_ONE },
     {"gets",    FUNCT(do_gets_cmd, cp),        A_ONE },

src/hal/utils/halcmd_commands.cc

@@ -255,6 +255,26 @@ int do_set_debug_cmd(char* level){
     return retval;
 }
 
+int do_getrt_cmd(void){
+    int m=0,retval=-EINVAL;
+    const char *argv[4];
+#if defined(RTAPI_USPACE)
+    argv[m++] = EMC2_BIN_DIR "/rtapi_app";
+    argv[m++] = "getrt";
+    argv[m++] = NULL;
+    retval = hal_systemv(argv);
+    if(retval){
+        halcmd_error("No realtime available\n");
+    }else{
+        halcmd_output("Realtime available\n");
+    }
+#else
+    halcmd_output("Realtime available, running in kernel\n");
+    retval = 0;
+#endif
+    return retval;
+}
+
 int do_source_cmd(char *hal_filename) {
     FILE *f = fopen(hal_filename, "r");
     char buf[MAX_CMD_LEN+1];

src/hal/utils/halcmd_commands.h

@@ -77,6 +77,7 @@ extern int do_list_cmd(char *type, char **patterns);
 extern int do_source_cmd(char *type);
 extern int do_status_cmd(char *type);
 extern int do_set_debug_cmd(char *level);
+extern int do_getrt_cmd(void);
 extern int do_delsig_cmd(char *mod_name);
 extern int do_loadrt_cmd(char *mod_name, char *args[]);
 extern int do_unlinkp_cmd(char *mod_name);

src/rtapi/uspace_rtapi_main.cc

@@ -307,6 +307,16 @@ static int do_debug_cmd(const std::string &value) {
     }
 }
 
+static int do_getrt_cmd(void) {
+    try {
+        return rtapi_is_realtime() == 0;
+    } catch (std::invalid_argument &e) {
+        //stoi will throw an exception if parsing is not possible
+        rtapi_print_msg(RTAPI_MSG_ERR, "Debug level is not a number\n");
+        return -EINVAL;
+    }
+}
+
 /*
  * Fully checked send/recv
  * Will retry on EINTR, so to abort a send_data/recv_data on a
@@ -557,6 +567,8 @@ static int handle_command(const std::vector<std::string> &args) {
         return do_newinst_cmd(args[1], args[2], args[3]);
     } else if (args.size() == 2 && args[0] == "debug") {
         return do_debug_cmd(args[1]);
+    } else if (args.size() == 1 && args[0] == "getrt") {
+        return do_getrt_cmd();
     } else {
         rtapi_print_msg(RTAPI_MSG_ERR, "Unrecognized command starting with %s\n", args[0].c_str());
         return -1;