RTT::Timer

Timer Class Reference

#include <rtt/Timer.hpp>

Inheritance diagram for Timer:

Detailed Description

This class allows to define a timer object which can be armed in single shot and periodic mode.

In Order to use this class, derive your class from Timer and implement the timeout() method. The resolution of this class depends completely on the timer resolution of the underlying operating system.

Definition at line 23 of file Timer.hpp.


Public Types
typedef int	TimerId
	A positive numeric ID representing a timer.
Public Member Functions
	Timer (TimerId max_timers, int scheduler=-1, int priority=0)
	Create a timer object which can hold max_timers timers.
	~Timer ()
virtual void	timeout (TimerId timer_id)
	This function is called each time an armed or periodic timer expires.
void	setMaxTimers (TimerId max)
	Change the maximum number of timers in this object.
bool	startTimer (TimerId timer_id, Seconds period)
	Start a periodic timer which starts first over period seconds and then every period seconds.
bool	arm (TimerId timer_id, Seconds wait_time)
	Arm a timer to fire once over wait_time seconds.
TimeService::Seconds	timeRemaining (TimerId timer_id) const
	Returns the remaining time before this timer elapses.
bool	isActive (TimerId timer_id) const
	Check if a given timer id is armed.
bool	killTimer (TimerId timer_id)
	Disable an armed timer.
Protected Types
typedef TimeService::nsecs	Time
typedef std::vector < std::pair< Time, Time > >	TimerIds
	Index in vector is the timer id.
Protected Member Functions
bool	initialize ()
	The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.
void	finalize ()
	The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.
void	step ()
	The method that will be periodically executed when this class is run in a periodic thread.
void	loop ()
	The method that will be executed once when this class is run in a non periodic thread.
bool	breakLoop ()
	This method is called by the framework to break out of the loop() method.
ThreadInterface *	getThread () const
	Get the thread this object is run in.
virtual void	setThread (ThreadInterface *t)
	Set the thread this object will be run in.
Protected Attributes
TimeService *	mTimeserv
OS::ThreadInterface *	mThread
OS::Semaphore	msem
OS::Mutex	m
TimerIds	mtimers
bool	mdo_quit

Member Typedef Documentation

typedef std::vector<std::pair<Time, Time> > TimerIds [protected]

Index in vector is the timer id.

1st Time is the absolute time upon which the timer expires. 2nd Time is the optional period of the timer.

Definition at line 42 of file Timer.hpp.

Constructor & Destructor Documentation

Timer	(	TimerId	max_timers,
		int	scheduler = `-1`,
		int	priority = `0`
	)

Create a timer object which can hold max_timers timers.

A Timer must be executed in a SingleThread or it will refuse to start. If scheduler is set to -1 (default) no thread is created and you need to attach a thread yourself to this Timer.

Parameters:

	max_timers	The initial amount of timers this Timer can monitor. Keep as low as possible. See also setMaxTimers().
	scheduler	The Orocos scheduler type for this timer. ORO_SCHED_OTHER or ORO_SCHED_RT or -1 to attach your own thread.
	priority	The priority within the scheduler of this timer.

Definition at line 83 of file Timer.cpp.

References TimeService::Instance(), Timer::mThread, Timer::mtimers, Timer::mTimeserv, and ThreadInterface::start().

Member Function Documentation

void loop ( ) [protected, virtual]

The method that will be executed once when this class is run in a non periodic thread.

The default implementation calls step() once.

Reimplemented from RunnableInterface.

Definition at line 18 of file Timer.cpp.

References TimeService::getNSecs(), TimeService::InfiniteNSecs, Timer::m, Timer::mdo_quit, Timer::msem, Timer::mtimers, Timer::mTimeserv, Timer::timeout(), and Semaphore::waitUntil().

bool breakLoop ( ) [protected, virtual]

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns:: true if the loop could be notified to return.

Reimplemented from RunnableInterface.

Definition at line 76 of file Timer.cpp.

References Timer::mdo_quit, Timer::msem, and Semaphore::signal().

void timeout ( TimerId timer_id ) [virtual]

This function is called each time an armed or periodic timer expires.

The user must implement this method to catch the time outs.

Parameters:

timer_id

The number of the timer that expired.

Definition at line 100 of file Timer.cpp.

Referenced by Timer::loop().

void setMaxTimers ( TimerId max )

Change the maximum number of timers in this object.

Any added timer with id >= max will be removed.

Definition at line 105 of file Timer.cpp.

References Timer::m, and Timer::mtimers.

bool startTimer	(	TimerId	timer_id,
		Seconds	period
	)

Start a periodic timer which starts first over period seconds and then every period seconds.

Parameters:

	timer_id	The number of the timer, starting from zero.
	period	The period when the timer should expire. This is a floating point number.

See also:: killTimer to disable it again.

Definition at line 111 of file Timer.cpp.

References TimeService::getNSecs(), Timer::m, Timer::msem, Timer::mtimers, Timer::mTimeserv, RTT::Seconds_to_nsecs(), and Semaphore::signal().

bool arm	(	TimerId	timer_id,
		Seconds	wait_time
	)

Arm a timer to fire once over wait_time seconds.

Parameters:

	timer_id	The number of the timer, starting from zero.
	wait_time	The time in seconds from now, when the timer should expire. This is a floating point number.