Orocos Real-Time Toolkit  2.6.0
Classes | Functions | Variables
RTT::os Namespace Reference

OS Abstractions such as Mutexes, Semaphores and Threads. More...

Classes

class  AtomicInt
 C++ abstraction of atomic integer operations. More...
class  Condition
 An object oriented wrapper around a condition variable. More...
class  MainThread
 A class which represents the main() thread. More...
class  MutexInterface
 An interface to a Mutex. More...
class  Mutex
 An object oriented wrapper around a non recursive mutex. More...
class  MutexRecursive
 An object oriented wrapper around a recursive mutex. More...
class  MutexLock
 MutexLock is a scope based Monitor, protecting critical sections with a Mutex object through locking and unlocking it. More...
class  MutexTryLock
 A MutexTryLock tries to lock an Mutex object on construction and if successful, unlocks it on destruction of the MutexTryLock. More...
class  MutexTimedLock
 A MutexTimedLock locks a Mutex object on construction and if successful, unlocks it on destruction of the MutexTimedLock. More...
class  local_allocator
 A simple local allocator which keeps a small pool which you can grow manually with grow(). More...
class  rt_allocator
 A real-time malloc allocator which allocates every block with oro_rt_malloc() and deallocates with oro_rt_free(). More...
struct  rt_list
 Implements a list with real-time insertion/removal of elements. More...
class  streambufs
 A base class for all stream buffer operations. More...
class  stringbufs
 A streambufs implementation based on strings. More...
class  basic_streams
 This is a stream class for use in limited environments. More...
class  basic_istreams
 An basic_istream is a stream which can be read. More...
class  basic_ostreams
 An basic_ostreams is a stream which can be written to. More...
class  basic_iostreams
 An IO stream based on strings. More...
class  printstream
 The printstream is a stream for printing characters to the terminal window. More...
class  stringstreams
 Stringstreams, are not guaranteed to be hard realtime. More...
class  Semaphore
 An object oriented wrapper around a counting semaphore. More...
class  StartStopManager
 This manager starts and stops all globally registered start/stop functions, without a particular order. More...
struct  InitFunction
 Use this to register a global init function to the StartStopManager. More...
struct  CleanupFunction
 Use this to register a global cleanup function to the StartStopManager. More...
class  Thread
 A Thread object executes user code in its own thread. More...
class  ThreadInterface
 A thread which is being run. More...
class  Timer
 This class allows to define a timer object which can be armed in single shot and periodic mode. More...
class  TimeService
 The TimeService is used for system-wide time keeping and conversions. More...

Functions

template<class T , class V , class W >
bool CAS (volatile T *addr, const V &expected, const W &value)
 Compare And Swap.
INTERNAL_QUAL int rtos_task_create_main (RTOS_TASK *main_task)
 Initialise the main thread.
INTERNAL_QUAL int rtos_task_delete_main (RTOS_TASK *main_task)
 Cleanup the main thread.
INTERNAL_QUAL int rtos_task_create (RTOS_TASK *task, int priority, unsigned cpu_affinity, const char *name, int sched_type, size_t stack_size, void *(*start_routine)(void *), ThreadInterface *obj)
 Create a thread.
INTERNAL_QUAL void rtos_task_yield (RTOS_TASK *task)
 Yields the current thread.
INTERNAL_QUAL void wakeup_handler (cyg_handle_t alarm_handle, cyg_addrword_t data)
INTERNAL_QUAL void rtos_task_make_periodic (RTOS_TASK *mytask, NANO_TIME nanosecs)
 This function is to inform the RTOS that a thread is switching between periodic or non-periodic execution.
INTERNAL_QUAL int rtos_task_check_priority (int *sched_type, int *priority)
 This function checks (and corrects) a given priority within a given scheduler type.
unsigned int rtos_task_get_pid (const RTOS_TASK *task)
 Returns the process ID the OS gave to the task task.
int rtos_task_set_scheduler (RTOS_TASK *t, int sched_type)
 Set the scheduler of a given task t to a the type sched_type.
int rtos_task_get_scheduler (const RTOS_TASK *t)
 Returns the current scheduler set for task t.
void rtos_task_set_period (RTOS_TASK *mytask, NANO_TIME nanosecs)
 Change the period of a periodic RTOS task.
void rtos_task_set_wait_period_policy (RTOS_TASK *task, int policy)
 Set the wait policy of a thread.
int rtos_task_wait_period (RTOS_TASK *task)
 This function is called by a periodic thread which wants to go to sleep and wake up the next period.
void rtos_task_delete (RTOS_TASK *mytask)
 This function must join the thread created with rtos_task_create and then clean up the RTOS_TASK struct.
int rtos_task_check_scheduler (int *sched_type)
 This function checks (and corrects) if the given sched_type is valid for this RTOS.
int rtos_task_set_priority (RTOS_TASK *task, int priority)
 Set the priority of a thread.
int rtos_task_get_priority (const RTOS_TASK *task)
 Return the priority of a thread.
int rtos_task_set_cpu_affinity (RTOS_TASK *task, unsigned cpu_affinity)
 Set the cpu affinity of a thread.
unsigned rtos_task_get_cpu_affinity (const RTOS_TASK *task)
 Return the cpu affinity of a thread.
const char * rtos_task_get_name (const RTOS_TASK *task)
 Returns the name by which a task is known in the RTOS.
int rtos_task_is_self (const RTOS_TASK *task)
 Returns 1 when task is the task struct of the thread calling this function, 0 otherwise.
INTERNAL_QUAL void * rtos_posix_thread_wrapper (void *cookie)
INTERNAL_QUAL void * rtai_thread_wrapper (void *arg)
template<class T , class A , class A2 >
bool operator== (const local_allocator< T, A > &, const local_allocator< T, A2 > &)
template<class T , class A , class A2 >
bool operator!= (const local_allocator< T, A > &, const local_allocator< T, A2 > &)
template<class T , class A >
bool operator== (const local_allocator< T, A > &, const local_allocator< T, A > &)
template<class T , class A >
bool operator!= (const local_allocator< T, A > &, const local_allocator< T, A > &)
template<class T >
bool operator== (const rt_allocator< T > &, const rt_allocator< T > &)
template<class T >
bool operator!= (const rt_allocator< T > &, const rt_allocator< T > &)
basic_ostreamsendl (basic_ostreams &)
 Flush and newline.
void * thread_function (void *t)
bool CheckScheduler (int &sched_type)
 Check if the scheduler is a valid type in the current process and adapt to a valid value.
bool CheckPriority (int &sched_type, int &priority)
 Check if the scheduler type and priority match and adapt to a valid value.
void ErrorHandler (LPTSTR lpszFunction)
DWORD WINAPI ThreadWrapper (void *threadData)
INTERNAL_QUAL NANO_TIME rtos_task_get_period (const RTOS_TASK *t)
INTERNAL_QUAL void rtos_xeno_thread_wrapper (void *cookie)

Variables

const int LowestPriority = ORONUM_OS_RTOS_LOWEST_PRIORITY
 An integer denoting the lowest priority of the selected OS.
const int HighestPriority = ORONUM_OS_RTOS_HIGHEST_PRIORITY
 An integer denoting the highest priority of the selected OS.
const int IncreasePriority = -1
 An interval to be added 'n' times to LowestPriority to get an 'n' times higher priority.
printstream cout
 Console Output.
AtomicInt threads (0)
 The number of threads in addition to the main() thread.

Detailed Description

OS Abstractions such as Mutexes, Semaphores and Threads.

OS abstractions.

It is meant to group all packages which provide OS abstraction classes and functions in a realtime system. Examples are Threads, Mutexes and standard libraries.


Function Documentation

template<class T , class V , class W >
bool RTT::os::CAS ( volatile T *  addr,
const V &  expected,
const W &  value 
)
bool RTT_API RTT::os::CheckPriority ( int &  sched_type,
int &  priority 
)

Check if the scheduler type and priority match and adapt to a valid value.

If sched_type is unknown a default is choosen. If priority is invalid within sched_type, a default is choosen.

Returns:
true if the arguments made sense, false if a correction was applied.

Definition at line 51 of file threads.cpp.

References rtos_task_check_priority().

Referenced by RTT::extras::TimerThread::Instance().

bool RTT_API RTT::os::CheckScheduler ( int &  sched_type)

Check if the scheduler is a valid type in the current process and adapt to a valid value.

Returns:
true if sched_type made sense, false if a correction was applied.

Definition at line 46 of file threads.cpp.

References rtos_task_check_scheduler().

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

INTERNAL_QUAL int RTT::os::rtos_task_check_priority ( int *  sched_type,
int *  priority 
)

This function checks (and corrects) a given priority within a given scheduler type.

Incorrect arguments are re-set to a sensible default.

Parameters:
sched_typeAn integer denoting a scheduler type, which will be updated if it's not a valid value.
priorityAn integer denoting the priority, which will be updated if it's not a valid value (within that scheduler).
Returns:
0 when it is valid, -1 when invalid and corrected.

Definition at line 244 of file fosi_internal.cpp.

References rtos_task_check_scheduler().

Referenced by CheckPriority(), rtos_task_set_priority(), and rtos_task_set_scheduler().

INTERNAL_QUAL int RTT::os::rtos_task_check_scheduler ( int *  sched_type)

This function checks (and corrects) if the given sched_type is valid for this RTOS.

If it's not, a sensible default is returned in the argument

Parameters:
sched_typeAn integer denoting a scheduler type, which will be updated if it's not a valid value.
Returns:
0 when it is valid, -1 when invalid and corrected.

Definition at line 283 of file fosi_internal.cpp.

Referenced by CheckScheduler(), rtos_task_check_priority(), rtos_task_make_periodic(), and rtos_task_set_scheduler().

INTERNAL_QUAL int RTT::os::rtos_task_create ( RTOS_TASK *  task,
int  priority,
unsigned  cpu_affinity,
const char *  name,
int  sched_type,
size_t  stack_size,
void *(*)(void *)  start_routine,
ThreadInterface *  obj 
)

Create a thread.

Spawn a new thread with the given arguments. When rtos_task_create returns successfully, the task structure must be initialised fully and be valid.

Parameters:
taskAn uninitialised, by the user allocated struct which will be used to store the task data in.
priorityThe priority of the thread, to be interpreted by the underlying RTOS.
cpu_affinityThe cpu affinity of the thread (
See also:
rtos_task_set_cpu_affinity).
Parameters:
nameThe name for the thread, or null if none is given.
sched_typeThe scheduler type, one of ORO_SCHED_OTHER, ORO_SCHED_RT or a value defined by your RTOS.
stack_sizeThe stack size of this thread, or zero when the default stack size may be used.
start_routineThe entry function that the thread will execute.
objThe argument to pass to that thread.
Returns:
zero on success, -1 if it could not be created.

Definition at line 57 of file fosi_internal.cpp.

INTERNAL_QUAL int RTT::os::rtos_task_create_main ( RTOS_TASK *  main_task)

Initialise the main thread.

Anything necessary to setup the real-time environment on the current RTOS may be done here. This is the first function that the RTT will call in the FOSI layer, when the MainThread object is constructed. Typically, the main thread is assigned a priority, put in a scheduler and memory is locked into RAM.

Definition at line 43 of file fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_delete ( RTOS_TASK *  mytask)

This function must join the thread created with rtos_task_create and then clean up the RTOS_TASK struct.

This function may not be called from the thread itself.

Parameters:
mytaskThe thread to join and cleanup.

Definition at line 277 of file fosi_internal.cpp.

Referenced by rtos_task_make_periodic(), and RTT::os::Thread::terminate().

INTERNAL_QUAL int RTT::os::rtos_task_delete_main ( RTOS_TASK *  main_task)

Cleanup the main thread.

This undoes the actions taken by rtos_task_create_main(). This is the last function that the RTT will call in the FOSI layer, when the MainThread object is destructed.

Definition at line 50 of file fosi_internal.cpp.

INTERNAL_QUAL unsigned RTT::os::rtos_task_get_cpu_affinity ( const RTOS_TASK *  task)

Return the cpu affinity of a thread.

Parameters:
taskThe thread to get the cpu affinity
Returns:
the cpu affinity (
See also:
rtos_task_set_cpu_affinity)

Definition at line 417 of file fosi_internal.cpp.

Referenced by RTT::os::Thread::getCpuAffinity(), and rtos_task_make_periodic().

INTERNAL_QUAL const char * RTT::os::rtos_task_get_name ( const RTOS_TASK *  task)

Returns the name by which a task is known in the RTOS.

Parameters:
taskThe task to query.
Returns:
It's name.

Definition at line 432 of file fosi_internal.cpp.

Referenced by RTT::os::Thread::getName(), rtos_task_make_periodic(), RTT::os::Thread::setScheduler(), and thread_function().

INTERNAL_QUAL unsigned int RTT::os::rtos_task_get_pid ( const RTOS_TASK *  task)

Returns the process ID the OS gave to the task task.

Parameters:
taskThe task handle of the thread to query
Returns:
0 typically denotes the PID could not be obtained, but any interpretation is left to the user of the Operating System.

Definition at line 183 of file fosi_internal.cpp.

Referenced by RTT::os::MainThread::getPid(), RTT::os::Thread::getPid(), and rtos_task_make_periodic().

INTERNAL_QUAL int RTT::os::rtos_task_get_priority ( const RTOS_TASK *  task)

Return the priority of a thread.

Parameters:
taskThe thread to get the priority of
Returns:
the priority, as recorded by the underlying RTOS.

Definition at line 388 of file fosi_internal.cpp.

Referenced by RTT::os::MainThread::getPriority(), RTT::os::Thread::getPriority(), and rtos_task_make_periodic().

INTERNAL_QUAL int RTT::os::rtos_task_get_scheduler ( const RTOS_TASK *  t)

Returns the current scheduler set for task t.

Parameters:
tThe RTOS task to query.
Returns:
The scheduler type defined by your RTOS in which t is running.

Definition at line 214 of file fosi_internal.cpp.

Referenced by RTT::os::MainThread::getScheduler(), RTT::os::Thread::getScheduler(), and rtos_task_make_periodic().

INTERNAL_QUAL int RTT::os::rtos_task_is_self ( const RTOS_TASK *  task)

Returns 1 when task is the task struct of the thread calling this function, 0 otherwise.

Parameters:
taskthe task struct to compare against.
Return values:
-1if task is not a valid task struct or this thread is not known to the rtos layer.

Definition at line 190 of file fosi_internal.cpp.

INTERNAL_QUAL void RTT::os::rtos_task_make_periodic ( RTOS_TASK *  mytask,
NANO_TIME  nanosecs 
)

This function is to inform the RTOS that a thread is switching between periodic or non-periodic execution.

This may temporarily suspend the thread. For on-line periodic changes, use rtos_task_set_period, which is guaranteed to keep the thread running.

Parameters:
mytaskThe RTOS task to change.
nanosecsSet to zero if you wish to switch to non periodic execution, set to a positive value (the period in nano seconds) if you wish to switch to periodic execution.

Definition at line 105 of file fosi_internal.cpp.

References rtos_task_check_scheduler(), rtos_task_delete(), rtos_task_get_cpu_affinity(), rtos_task_get_name(), rtos_task_get_pid(), rtos_task_get_priority(), rtos_task_get_scheduler(), rtos_task_set_cpu_affinity(), rtos_task_set_period(), rtos_task_set_priority(), rtos_task_set_scheduler(), rtos_task_set_wait_period_policy(), and rtos_task_wait_period().

Referenced by rtos_task_set_period(), RTT::os::Thread::setPeriod(), RTT::os::Thread::start(), and RTT::os::Thread::stop().

INTERNAL_QUAL int RTT::os::rtos_task_set_cpu_affinity ( RTOS_TASK *  task,
unsigned  cpu_affinity 
)

Set the cpu affinity of a thread.

Parameters:
taskThe thread to change the cpu affinity of
cpu_affinityis a bit mask with the cpu this thread should be bound. The bit 0 is the cpu 0, the bit 1, the cpu 1 and so on. For example ((1 << 0) | (1 << 1)) will bound to cpu 0 and 1.
Returns:
0 if the cpu affinity could be set.

Definition at line 401 of file fosi_internal.cpp.

Referenced by rtos_task_make_periodic(), and RTT::os::Thread::setCpuAffinity().

INTERNAL_QUAL void RTT::os::rtos_task_set_period ( RTOS_TASK *  mytask,
NANO_TIME  nanosecs 
)

Change the period of a periodic RTOS task.

You must first use rtos_task_make_periodic() before calling this function. This function may not suspend the thread.

Parameters:
mytaskThe RTOS task to change the period.
nanosecsthe new period. As a special exception, if this is equal to zero, it is to inform the RTOS that we'll block this periodic thread for an unspecified amount of time and that this should not trigger a watchdog, or lead to 'catching up' or signalling overruns.

Definition at line 231 of file fosi_internal.cpp.

References rtos_task_make_periodic().

Referenced by rtos_task_make_periodic(), and thread_function().

INTERNAL_QUAL int RTT::os::rtos_task_set_priority ( RTOS_TASK *  task,
int  priority 
)

Set the priority of a thread.

Parameters:
taskThe thread to change the priority of
priorityThe priority as interpreted by the underlying RTOS.
Returns:
0 if the priority could be set.

Definition at line 372 of file fosi_internal.cpp.

References rtos_task_check_priority().

Referenced by rtos_task_make_periodic(), RTT::os::MainThread::setPriority(), and RTT::os::Thread::setPriority().

INTERNAL_QUAL int RTT::os::rtos_task_set_scheduler ( RTOS_TASK *  t,
int  sched_type 
)

Set the scheduler of a given task t to a the type sched_type.

In some RTOS's the scheduler can't be changed or the change can only be done for the calling thread.

Parameters:
tThe RTOS task to change.
sched_typeA scheduler typed known by your RTOS.
Return values:
0when the scheduler of t was changed successfully
-1if scheduler for t could not be changed or sched_type is invalid
-2if sched_type is valid but can only be changed for the current thread which is not t. In this case, the calling code should find a way to let the thread associated with t make the call to rtos_task_set_scheduler().

Definition at line 197 of file fosi_internal.cpp.

References rtos_task_check_priority(), and rtos_task_check_scheduler().

Referenced by rtos_task_make_periodic(), RTT::os::MainThread::setScheduler(), RTT::os::Thread::setScheduler(), and thread_function().

INTERNAL_QUAL void RTT::os::rtos_task_set_wait_period_policy ( RTOS_TASK *  task,
int  policy 
)

Set the wait policy of a thread.

Parameters:
taskThe RTOS task to change.
policyThe wait policy.

Definition at line 236 of file fosi_internal.cpp.

Referenced by rtos_task_make_periodic(), RTT::os::MainThread::setWaitPeriodPolicy(), and RTT::os::Thread::setWaitPeriodPolicy().

INTERNAL_QUAL int RTT::os::rtos_task_wait_period ( RTOS_TASK *  task)

This function is called by a periodic thread which wants to go to sleep and wake up the next period.

Parameters:
taskThis must be RTOS_TASK struct of the calling thread.
Returns:
zero on success (or if the thread is non periodic), non-zero to indicate an overrun.

Definition at line 241 of file fosi_internal.cpp.

Referenced by rtos_task_make_periodic(), and thread_function().

INTERNAL_QUAL void RTT::os::rtos_task_yield ( RTOS_TASK *  task)

Yields the current thread.

This function may be left empty.

Parameters:
taskThe task handle of the current thread.

Definition at line 95 of file fosi_internal.cpp.

Referenced by RTT::os::MainThread::yield(), and RTT::os::Thread::yield().

void* RTT::os::thread_function ( void *  t)

Variable Documentation

The number of threads in addition to the main() thread.

The main thread is thread zero (0). threads is increased by one for each PeriodicThread or SingleThread object created and is never decreased.

Definition at line 54 of file threads.hpp.

Referenced by RTT::internal::ListLockFree< connection_t >::ListLockFree().