Orocos Real-Time Toolkit  2.6.0
Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes
RTT::extras::TimerThread Class Reference

This Periodic Thread is meant for executing a PeriodicActivity object periodically. More...

#include <rtt/extras/TimerThread.hpp>

Inheritance diagram for RTT::extras::TimerThread:
RTT::os::Thread RTT::os::ThreadInterface RTT::extras::SimulationThread

List of all members.

Public Member Functions

 TimerThread (int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)
 Create a periodic Timer thread.
 TimerThread (int scheduler, int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)
 Create a periodic Timer thread with a given scheduler type.
virtual ~TimerThread ()
 Destructor.
bool addActivity (PeriodicActivity *t)
 Add an Timer that will be ticked every execution period Once added, a timer can not be removed.
bool removeActivity (PeriodicActivity *t)
virtual bool start ()
 Start the Thread.
virtual bool stop ()
 Stop the Thread.
bool setPeriod (Seconds s)
 Set the periodicity in Seconds.
bool setPeriod (secs s, nsecs ns)
 Set the periodicity of this thread (seconds, nanoseconds)
bool setPeriod (TIME_SPEC p)
 Set the periodicity of this thread.
void getPeriod (secs &s, nsecs &ns) const
 Get the periodicity of this thread (seconds, nanoseconds)
virtual Seconds getPeriod () const
 Get the periodicity in Seconds.
virtual nsecs getPeriodNS () const
 Get the periodicity in nanoseconds.
virtual bool isPeriodic () const
virtual bool isRunning () const
 Returns whether the thread is running.
virtual bool isActive () const
 Returns whether the thread is active.
virtual const char * getName () const
 Read the name of this task.
virtual RTOS_TASK * getTask ()
 Get the RTOS_TASK pointer.
virtual const RTOS_TASK * getTask () const
 const version of the above.
virtual bool setScheduler (int sched_type)
 Change the scheduler policy in which this thread runs.
virtual int getScheduler () const
 Get the scheduler policy in which this thread runs.
virtual bool setPriority (int priority)
 Set the priority of this Thread.
virtual int getPriority () const
 The priority of this Thread.
virtual unsigned int getPid () const
 Returns the Process or Thread ID of this thread, as assigned by the Operating System.
virtual bool setCpuAffinity (unsigned cpu_affinity)
 Set cpu affinity for this thread The cpu affinity of the thread (.
virtual unsigned getCpuAffinity () const
virtual void yield ()
 Yields (put to the back of the scheduler queue) the calling thread.
virtual void setMaxOverrun (int m)
virtual int getMaxOverrun () const
virtual void setWaitPeriodPolicy (int p)
 Set the wait policy of a periodic thread.
unsigned int threadNumber () const
 The unique thread number (within the same process).
bool isSelf () const

Static Public Member Functions

static TimerThreadPtr Instance (int priority, double periodicity)
 Create a TimerThread with a given priority and periodicity, using the default scheduler, ORO_SCHED_RT.
static TimerThreadPtr Instance (int scheduler, int priority, double periodicity)
 Create a TimerThread with a given scheduler, priority and periodicity.
static TimerThreadPtr Instance (int scheduler, int priority, double periodicity, unsigned cpu_affinity)
 Create a TimerThread with a given scheduler, priority and periodicity.
static void setStackSize (unsigned int ssize)
 Sets the stack size of the threads to be created.

Static Public Attributes

static const unsigned int MAX_ACTIVITIES = 64

Protected Types

typedef std::vector
< boost::weak_ptr< TimerThread > > 
TimerThreadList
 A Boost weak pointer is used to store non-owning pointers to shared objects.

Protected Member Functions

virtual bool initialize ()
virtual void step ()
virtual void finalize ()
void reorderList ()
void terminate ()
 Exit and destroy the thread.
void emergencyStop ()
virtual void loop ()
virtual bool breakLoop ()

Protected Attributes

os::MutexRecursive mutex
 A Activity can not create a activity of same priority from step().
int threadnb
 Threads are given an unique number, which follows thread creation order.

Static Protected Attributes

static TimerThreadList TimerThreads
 All timer threads.

Detailed Description

This Periodic Thread is meant for executing a PeriodicActivity object periodically.

See also:
PeriodicActivity

Definition at line 69 of file TimerThread.hpp.


Constructor & Destructor Documentation

RTT::TimerThread::TimerThread ( int  priority,
const std::string &  name,
double  periodicity,
unsigned  cpu_affinity = ~0 
)

Create a periodic Timer thread.

Parameters:
priorityThe priority of this thread
periodicityThe periodicity of this thread in seconds (e.g. 0.001 = 1000Hz )

Definition at line 90 of file TimerThread.cpp.

RTT::TimerThread::TimerThread ( int  scheduler,
int  priority,
const std::string &  name,
double  periodicity,
unsigned  cpu_affinity = ~0 
)

Create a periodic Timer thread with a given scheduler type.

Parameters:
schedulerThe scheduler in which this thread runs
priorityThe priority of this thread within scheduler
periodicityThe periodicity of this thread in seconds (e.g. 0.001 = 1000Hz )

Definition at line 96 of file TimerThread.cpp.


Member Function Documentation

bool RTT::os::Thread::breakLoop ( ) [protected, virtual, inherited]
void RTT::TimerThread::finalize ( ) [protected, virtual]
See also:
base::RunnableInterface::finalize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 135 of file TimerThread.cpp.

References mutex.

unsigned RTT::os::Thread::getCpuAffinity ( ) const [virtual, inherited]
Returns:
the cpu affinity (
See also:
rtos_task_set_cpu_affinity)

Reimplemented in RTT::Activity.

Definition at line 593 of file Thread.cpp.

References RTT::os::rtos_task_get_cpu_affinity().

double RTT::os::Thread::getPeriod ( ) const [virtual, inherited]

Get the periodicity in Seconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 578 of file Thread.cpp.

Referenced by RTT::extras::SimulationThread::run(), RTT::extras::SimulationThread::SimulationThread(), RTT::extras::SimulationThread::step(), and RTT::os::Thread::stop().

nsecs RTT::os::Thread::getPeriodNS ( ) const [virtual, inherited]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 583 of file Thread.cpp.

unsigned int RTT::os::Thread::getPid ( ) const [virtual, inherited]

Returns the Process or Thread ID of this thread, as assigned by the Operating System.

This function tries to return the Thread ID, if the OS supports it, otherwise it returns the process ID. If that is not available either, zero is returned. On Linux systems for example, the Thread ID of the main thread is equal to the Process ID. The Thread ID of every newly created thread is different from the Process ID (and unique).

Implements RTT::os::ThreadInterface.

Definition at line 598 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

int RTT::os::Thread::getPriority ( ) const [virtual, inherited]

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.
See also:
setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 573 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

Referenced by RTT::extras::SimulationThread::SimulationThread().

int RTT::os::Thread::getScheduler ( ) const [virtual, inherited]

Get the scheduler policy in which this thread runs.

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

Implements RTT::os::ThreadInterface.

Definition at line 475 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler().

Referenced by RTT::os::Thread::setScheduler().

virtual RTOS_TASK* RTT::os::Thread::getTask ( ) [inline, virtual, inherited]

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.

Implements RTT::os::ThreadInterface.

Definition at line 174 of file Thread.hpp.

Referenced by RTT::os::thread_function().

bool RTT::TimerThread::initialize ( ) [protected, virtual]
See also:
base::RunnableInterface::initialize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 131 of file TimerThread.cpp.

bool RTT::os::Thread::isActive ( ) const [virtual, inherited]

Returns whether the thread is active.

A thread is active between the invocation of start() and the invocation of stop().

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 451 of file Thread.cpp.

Referenced by RTT::os::Thread::start().

bool RTT::os::Thread::isRunning ( ) const [virtual, inherited]

Returns whether the thread is running.

A thread is running if it is executing its loop() function or in the process of periodically calling step(). Hence for periodic threads, isRunning() == isActive() while for non-periodic threads, isRunning() is only true if isActive() and it is executing loop().

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity, RTT::extras::FileDescriptorActivity, and RTT::extras::SimulationThread.

Definition at line 446 of file Thread.cpp.

void RTT::os::Thread::loop ( ) [protected, virtual, inherited]
bool RTT::os::Thread::setCpuAffinity ( unsigned  cpu_affinity) [virtual, inherited]

Set cpu affinity for this thread The cpu affinity of the thread (.

See also:
rtos_task_set_cpu_affinity).
Returns:
true if the mask has been applied

Reimplemented in RTT::Activity.

Definition at line 588 of file Thread.cpp.

References RTT::os::rtos_task_set_cpu_affinity().

bool RTT::os::Thread::setPeriod ( Seconds  new_period) [virtual, inherited]

Set the periodicity in Seconds.

Parameters:
new_periodA positive number expressing the period
Returns:
true if it was accepted, false otherwise.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 523 of file Thread.cpp.

Referenced by RTT::os::Thread::setPeriod().

bool RTT::os::Thread::setPriority ( int  priority) [virtual, inherited]

Set the priority of this Thread.

Parameters:
priorityThe priority given upon construction of this thread. It has to be interpreted in the current OS scheduler.
See also:
setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 563 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::setScheduler ( int  sched_type) [virtual, inherited]

Change the scheduler policy in which this thread runs.

Parameters:
sched_typeAn 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.

Implements RTT::os::ThreadInterface.

Definition at line 456 of file Thread.cpp.

References RTT::os::CheckScheduler(), RTT::os::Thread::getScheduler(), RTT::os::rtos_task_get_name(), and RTT::os::rtos_task_set_scheduler().

Referenced by RTT::extras::SimulationThread::SimulationThread().

void RTT::os::Thread::setStackSize ( unsigned int  ssize) [static, inherited]

Sets the stack size of the threads to be created.

This value is suggestive and may be altered or ignored by your operating system. Use zero to use the system's default.

Parameters:
ssizethe size of the stack in bytes

Definition at line 73 of file Thread.cpp.

void RTT::os::Thread::setWaitPeriodPolicy ( int  p) [virtual, inherited]

Set the wait policy of a periodic thread.

Parameters:
Thewait policy between ORO_WAIT_ABS (absolute wait) and ORO_WAIT_REL (relative wait)

Implements RTT::os::ThreadInterface.

Definition at line 634 of file Thread.cpp.

References RTT::os::rtos_task_set_wait_period_policy().

bool RTT::os::Thread::start ( ) [virtual, inherited]

Start the Thread.

Postcondition:
initialize() is called first
The Thread is running
Returns:
true if the function did succeed. false otherwise.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::extras::IRQActivity, and RTT::extras::SimulationThread.

Definition at line 339 of file Thread.cpp.

References RTT::os::Thread::initialize(), RTT::os::Thread::isActive(), and RTT::os::rtos_task_make_periodic().

void RTT::TimerThread::step ( ) [protected, virtual]
See also:
base::RunnableInterface::step()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 145 of file TimerThread.cpp.

References mutex.

bool RTT::os::Thread::stop ( ) [virtual, inherited]

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.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, and RTT::Activity.

Definition at line 404 of file Thread.cpp.

References RTT::os::Thread::breakLoop(), RTT::os::Thread::finalize(), RTT::os::Thread::getName(), RTT::os::Thread::getPeriod(), RTT::os::MutexTimedLock::isSuccessful(), and RTT::os::rtos_task_make_periodic().

Referenced by RTT::extras::SimulationThread::step(), RTT::extras::SimulationThread::~SimulationThread(), and ~TimerThread().

void RTT::os::Thread::terminate ( ) [protected, inherited]

Exit and destroy the thread.

Precondition:
this is only called from within the destructor.
Postcondition:
the thread does no longer exist.

Definition at line 608 of file Thread.cpp.

References RTT::os::rtos_task_delete().


Member Data Documentation

A Activity can not create a activity of same priority from step().

If so a deadlock will occur.

Definition at line 134 of file TimerThread.hpp.

Referenced by addActivity(), finalize(), and step().

int RTT::os::ThreadInterface::threadnb [protected, inherited]

Threads are given an unique number, which follows thread creation order.

See also:
os::threads

Definition at line 223 of file ThreadInterface.hpp.


The documentation for this class was generated from the following files: