ThreadInterface Class Reference

#include <rtt/os/ThreadInterface.hpp>

Inheritance diagram for ThreadInterface:

Detailed Description

A thread which is being run (or runs a RunnableInterface).

The periodicity is the time between the starting of two runs or zero for non periodic threads.

Definition at line 53 of file ThreadInterface.hpp.


Public Types
typedef double	Seconds
typedef long	secs
typedef long	msecs
typedef long long	nsecs
Public Member Functions
	ThreadInterface ()
virtual	~ThreadInterface ()
virtual bool	run (RunnableInterface *r)=0
	Run the functionality of one RunnableInterface object.
virtual bool	start ()=0
	Start the Thread.
virtual bool	stop ()=0
	Stop the Thread.
virtual Seconds	getPeriod () const =0
	Get the periodicity in Seconds.
virtual nsecs	getPeriodNS () const =0
	Get the periodicity in nanoseconds.
virtual bool	isRunning () const =0
	Returns whether the thread is running.
virtual const char *	getName () const =0
	Read the name of this task.
virtual RTOS_TASK *	getTask ()=0
	Get the RTOS_TASK pointer.
virtual bool	setScheduler (int sched_type)=0
	Change the scheduler policy in which this thread runs.
virtual int	getScheduler () const =0
	Get the scheduler policy in which this thread runs.
virtual bool	setPriority (int priority)=0
	Set the priority of this Thread.
virtual int	getPriority () const =0
	The priority of this Thread.
virtual void	yield ()=0
	Yields (but to the back of the scheduler queue) the calling thread.
unsigned int	threadNumber () const
	The unique thread number.
Protected Attributes
int	threadnb
	Threads are given an unique number, which follows thread creation order.

Member Function Documentation

virtual bool run ( RunnableInterface * r ) [pure virtual]

Run the functionality of one RunnableInterface object.

Only one RunnableInterface object can be run, the old one is disconnected.

Parameters:

The object to run or zero to clear.

Returns:: true if accepted, false if the thread is running.

Implemented in NonPeriodicActivity, MainThread, PeriodicThread, and SingleThread.

Referenced by RunnableInterface::RunnableInterface().

virtual bool start ( ) [pure virtual]

Start the Thread.

Postcondition:: initialize() is called first
The Thread is running

Returns:: true if the function did succeed. false otherwise.

Implemented in NonPeriodicActivity, MainThread, PeriodicThread, SingleThread, and SimulationThread.

Referenced by Timer::Timer().

virtual bool stop ( ) [pure virtual]

Stop the Thread.

Postcondition:: The Thread is no longer being run
finalize() is called when the Thread is stopped.

Returns:: true if the function did succeed. false otherwise.

Implemented in NonPeriodicActivity, MainThread, PeriodicThread, and SingleThread.

virtual Seconds getPeriod ( ) const [pure virtual]

Get the periodicity in Seconds.

Return zero if non periodic.

Implemented in NonPeriodicActivity, MainThread, PeriodicThread, and SingleThread.

Referenced by Timer::initialize().

virtual nsecs getPeriodNS ( ) const [pure virtual]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implemented in MainThread, PeriodicThread, and SingleThread.

virtual RTOS_TASK* getTask ( ) [pure virtual]

Get the RTOS_TASK pointer.

Note:: Using this function leads to non-portable code. It is here for users which wish to tweak OS specific thread settings.

Implemented in MainThread, PeriodicThread, and SingleThread.

virtual bool setScheduler ( int sched_type ) [pure virtual]

Change the scheduler policy in which this thread runs.

Parameters:

sched_type

An OS-specific value which selects a scheduler. Orocos requires that these two values are available:

ORO_SCHED_RT: Hint the OS that this thread should be scheduled as a priority or real-time process.
ORO_SCHED_OTHER: Hint the OS that this thread should not be scheduled as a priority or real-time process.

Your OS can in addition provide other sched_type's which map more naturally to the schedulers present. If your OS does not make a distinction between real-time and other, both values may map to the same scheduler type.

Returns:: true if the change could be made.

Implemented in MainThread, PeriodicThread, and SingleThread.

virtual int getScheduler ( ) const [pure virtual]

Get the scheduler policy in which this thread runs.

Returns:: An OS-specific value which represents the used scheduler.

See also:: setScheduler

Implemented in MainThread, PeriodicThread, and SingleThread.

virtual bool setPriority ( int priority ) [pure virtual]

Set the priority of this Thread.

Parameters:

priority

The priority given upon construction of this thread. It has to be interpreted in the current OS scheduler.

See also:: setScheduler

Implemented in MainThread, PeriodicThread, and SingleThread.

virtual int getPriority ( ) const [pure virtual]

The priority of this Thread.

Returns:: The priority given upon construction of this thread or set with setPriority. The returned number has to be interpreted in the current OS scheduler.