Orocos Real-Time Toolkit  2.6.0
MainThread.hpp
00001 /***************************************************************************
00002   tag: FMTC  do nov 2 13:06:03 CET 2006  MainThread.hpp
00003 
00004                         MainThread.hpp -  description
00005                            -------------------
00006     begin                : do november 02 2006
00007     copyright            : (C) 2006 FMTC
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 
00040 #ifndef RTT_OS_MAIN_THREAD_HPP
00041 #define RTT_OS_MAIN_THREAD_HPP
00042 
00043 #include "ThreadInterface.hpp"
00044 #include <boost/shared_ptr.hpp>
00045 
00046 namespace RTT
00047 { namespace os {
00048 
00052     class RTT_API MainThread
00053         : public ThreadInterface
00054     {
00055         MainThread();
00060         static boost::shared_ptr<ThreadInterface> mt;
00061         RTOS_TASK main_task;
00062     public:
00063         virtual ~MainThread();
00064 
00069         static ThreadInterface* Instance();
00070 
00075         static void Release();
00076 
00080         virtual bool start();
00081 
00085         virtual bool stop();
00086 
00090         virtual Seconds getPeriod() const;
00091 
00095         virtual bool setPeriod(Seconds period);
00096 
00100         virtual nsecs getPeriodNS() const;
00101 
00105         virtual bool isRunning() const;
00106 
00110         virtual bool isActive() const;
00111 
00115         virtual const char* getName() const;
00116 
00117         virtual RTOS_TASK * getTask();
00118 
00119         virtual const RTOS_TASK * getTask() const;
00120 
00121         virtual bool setScheduler(int sched_type);
00122 
00123         virtual int getScheduler() const;
00124 
00125         virtual bool setPriority(int priority);
00126 
00127         virtual int getPriority() const;
00128 
00129         virtual unsigned int getPid() const;
00130 
00131         virtual void setMaxOverrun(int m);
00132 
00133         virtual int getMaxOverrun() const;
00134 
00135         virtual void setWaitPeriodPolicy(int p);
00136 
00137         virtual void yield();
00138 
00142         unsigned int threadNumber() const;
00143     protected:
00144 
00145     };
00146 }}
00147 
00148 #endif