Orocos Real-Time Toolkit  2.8.3
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
RTT::extras::FileDescriptorActivity Class Reference

An activity which is triggered by the availability of data on a set of file descriptors. More...

#include <rtt/extras/FileDescriptorActivity.hpp>

Inheritance diagram for RTT::extras::FileDescriptorActivity:
RTT::extras::FileDescriptorActivityInterface RTT::Activity RTT::base::ActivityInterface RTT::os::Thread RTT::os::ThreadInterface

Public Types

typedef boost::shared_ptr< ActivityInterfaceshared_ptr
 

Public Member Functions

 FileDescriptorActivity (int priority, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 Create a FileDescriptorActivity with a given priority and base::RunnableInterface instance. More...
 
 FileDescriptorActivity (int scheduler, int priority, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 Create a FileDescriptorActivity with a given scheduler type, priority and base::RunnableInterface instance. More...
 
 FileDescriptorActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 Create a FileDescriptorActivity with a given scheduler type, priority, intended period, and RunnableInterface instance. More...
 
 FileDescriptorActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 Create a FileDescriptorActivity with a given scheduler type, priority, intended period, CPU affinity, and RunnableInterface instance. More...
 
virtual ~FileDescriptorActivity ()
 
bool isRunning () const
 Query if the activity is initialized and executing. More...
 
virtual Seconds getPeriod () const
 Get the intended period (not the actual running period) More...
 
virtual bool setPeriod (Seconds period)
 Set the intended period (not the actual running period) More...
 
void watch (int fd)
 Sets the file descriptor the activity should be listening to. More...
 
void unwatch (int fd)
 Removes a file descriptor from the set of watched FDs. More...
 
void clearAllWatches ()
 Remove all FDs that are currently being watched. More...
 
bool isWatched (int fd) const
 True if this specific FD is being watched by the activity. More...
 
bool isUpdated (int fd) const
 True if this specific FD has new data. More...
 
bool hasTimeout () const
 True if the base::RunnableInterface has been triggered because of a timeout, instead of because of new data is available. More...
 
bool hasError () const
 True if one of the file descriptors has a problem (for instance it has been closed) More...
 
void setTimeout (int timeout)
 Sets the timeout, in milliseconds, for waiting on the IO. More...
 
void setTimeout_us (int timeout_us)
 Sets the timeout, in microseconds, for waiting on the IO. More...
 
int getTimeout () const
 Get the timeout, in milliseconds, for waiting on the IO. More...
 
int getTimeout_us () const
 Get the timeout, in microseconds, for waiting on the IO. More...
 
virtual bool start ()
 Start the activity. More...
 
virtual void loop ()
 
virtual bool breakLoop ()
 
virtual bool stop ()
 Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop(). More...
 
virtual void step ()
 Called by loop() when data is available on the file descriptor. More...
 
virtual bool trigger ()
 Force calling step() even if no data is available on the file descriptor, and returns true if the signalling was successful. More...
 
virtual bool execute ()
 Execute this activity such that it executes a step or loop of the RunnableInterface. More...
 
virtual bool isActive () const
 Query if the activity is started. More...
 
virtual bool isPeriodic () const
 Inspect if this activity is periodic. More...
 
void getPeriod (secs &s, nsecs &ns) const
 Get the periodicity of this thread (seconds, nanoseconds) More...
 
bool setPeriod (secs s, nsecs ns)
 Set the periodicity of this thread (seconds, nanoseconds) More...
 
bool setPeriod (TIME_SPEC p)
 Set the periodicity of this thread. More...
 
virtual unsigned getCpuAffinity () const
 Get the cpu affinity of this activity. More...
 
virtual bool setCpuAffinity (unsigned cpu)
 Set the cpu affinity of this activity. More...
 
virtual os::ThreadInterfacethread ()
 Returns a pointer to the thread which will run this activity. More...
 
virtual bool initialize ()
 
virtual void finalize ()
 
virtual bool run (RunnableInterface *r)
 Run exclusively this RunnableInterface. More...
 
virtual RunnableInterfacegetRunner () const
 Returns a pointer to the RunnableInterface instance. More...
 
void setStopTimeout (Seconds s)
 Sets the timeout for stop(), in seconds. More...
 
Seconds getStopTimeout () const
 Returns the desired timeout for stop(), in seconds. More...
 
virtual nsecs getPeriodNS () const
 Get the periodicity in nanoseconds. More...
 
virtual const char * getName () const
 Read the name of this task. More...
 
virtual RTOS_TASKgetTask ()
 Get the RTOS_TASK pointer. More...
 
virtual const RTOS_TASKgetTask () const
 const version of the above. More...
 
virtual bool setScheduler (int sched_type)
 Change the scheduler policy in which this thread runs. More...
 
virtual int getScheduler () const
 Get the scheduler policy in which this thread runs. More...
 
virtual bool setPriority (int priority)
 Set the priority of this Thread. More...
 
virtual int getPriority () const
 The priority of this Thread. More...
 
virtual unsigned int getPid () const
 Returns the Process or Thread ID of this thread, as assigned by the Operating System. More...
 
virtual void yield ()
 Yields (put to the back of the scheduler queue) the calling thread. More...
 
virtual void setMaxOverrun (int m)
 
virtual int getMaxOverrun () const
 
virtual void setWaitPeriodPolicy (int p)
 Set the wait policy of a periodic thread. More...
 
unsigned int threadNumber () const
 The unique thread number (within the same process). More...
 
bool isSelf () const
 

Static Public Member Functions

static void setStackSize (unsigned int ssize)
 Sets the stack size of the threads to be created. More...
 
static void setLockTimeoutNoPeriod (double timeout_in_s)
 Sets the lock timeout for a thread which does not have a period The default is 1 second. More...
 
static void setLockTimeoutPeriodFactor (double factor)
 Set the lock timeout for a thread which has a period by a factor of the period The default is factor 10. More...
 

Protected Member Functions

void disableRun (RunnableInterface *caller)
 This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used. More...
 
void terminate ()
 Exit and destroy the thread. More...
 
void emergencyStop ()
 

Protected Attributes

RunnableInterfacerunner
 
int threadnb
 Threads are given an unique number, which follows thread creation order. More...
 

Detailed Description

An activity which is triggered by the availability of data on a set of file descriptors.

step() (and hence the base::RunnableInterface's step() method) is called when data is available or when an error is encountered on the file descriptor.

To use it, one must add the file descriptors to watch in the task's configureHook()

FileDescriptorActivity* fd_activity = dynamic_cast<FileDescriptorActivity*>(getActivity().get()); if (fd_activity) { fd_activity->watch(device_fd); // optional, set a timeout in milliseconds fd_activity->setTimeout(1000); // or in microseconds fd_activity->setTimeout_us(1000); }

Then, updateHook() and – when in ERROR state – errorHook() will be called when one of these three events happen:

The different cases can be tested in updateHook() as follows:

FileDescriptorActivity* fd_activity = dynamic_cast<FileDescriptorActivity*>(getActivity().get()); if (fd_activity) { if (fd_activity->hasError()) { } else if (fd_activity->hasTimeout()) { } else { // If there is more than one FD, discriminate. Otherwise, // we don't need to use isUpdated if (fd_activity->isUpdated(device_fd)) { } else if (fd_activity->isUpdated(another_fd)) { } } }

Definition at line 104 of file FileDescriptorActivity.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<ActivityInterface> RTT::base::ActivityInterface::shared_ptr
inherited

Constructor & Destructor Documentation

FileDescriptorActivity::FileDescriptorActivity ( int  priority,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given priority and base::RunnableInterface instance.

Create a FileDescriptorActivity with a given priority and RunnableInterface instance.

The default scheduler for NonPeriodicActivity objects is ORO_SCHED_RT.

Parameters
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

The default scheduler for NonPeriodicActivity objects is ORO_SCHED_RT.

Parameters
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.

Definition at line 78 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity ( int  scheduler,
int  priority,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given scheduler type, priority and base::RunnableInterface instance.

Create a FileDescriptorActivity with a given scheduler type, priority and RunnableInterface instance.

Parameters
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.

Definition at line 103 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity ( int  scheduler,
int  priority,
Seconds  period,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given scheduler type, priority, intended period, and RunnableInterface instance.

Parameters
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
periodThe intended periodicity of the activity
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 119 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity ( int  scheduler,
int  priority,
Seconds  period,
unsigned  cpu_affinity,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given scheduler type, priority, intended period, CPU affinity, and RunnableInterface instance.

Parameters
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
periodThe intended periodicity of the activity
cpu_affinityThe prefered cpu to run on (a mask)
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 135 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::~FileDescriptorActivity ( )
virtual

Definition at line 151 of file FileDescriptorActivity.cpp.

References stop().

Member Function Documentation

bool FileDescriptorActivity::breakLoop ( )
virtual
See also
base::RunnableInterface::breakLoop()

Reimplemented from RTT::Activity.

Definition at line 400 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::clearAllWatches ( )
virtual

Remove all FDs that are currently being watched.

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 206 of file FileDescriptorActivity.cpp.

void RTT::base::ActivityInterface::disableRun ( RunnableInterface caller)
inlineprotectedinherited

This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used.

run(0) can not be used in this case because it would recurse.

Definition at line 73 of file ActivityInterface.hpp.

Referenced by RTT::base::RunnableInterface::setActivity(), and RTT::base::RunnableInterface::~RunnableInterface().

void RTT::os::Thread::emergencyStop ( )
protectedinherited

Definition at line 226 of file Thread.cpp.

References RTT::os::Thread::finalize().

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

bool RTT::Activity::execute ( )
virtualinherited

Execute this activity such that it executes a step or loop of the RunnableInterface.

When you invoke execute() you intend to call the step() or loop() methods. Some activity implementations allow a user controlled execute, others ignore it, in which case execute() returns false.

Semantics: If execute() returns true, the activity has been executed exactly once during execute().

Return values
trueWhen this->isActive() and the implementation allows external executes.
falseWhen !this->isActive() or the implementation does not allow external updating.
See also
trigger() for use in callbacks which want execute() to be executed.

Implements RTT::base::ActivityInterface.

Definition at line 136 of file Activity.cpp.

void RTT::Activity::finalize ( )
virtualinherited
unsigned RTT::Activity::getCpuAffinity ( ) const
virtualinherited

Get the cpu affinity of this activity.

Returns
The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 163 of file Activity.cpp.

References RTT::os::Thread::getCpuAffinity().

int RTT::os::Thread::getMaxOverrun ( ) const
virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 642 of file Thread.cpp.

const char * RTT::os::Thread::getName ( ) const
virtualinherited
Seconds FileDescriptorActivity::getPeriod ( ) const
virtual

Get the intended period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 156 of file FileDescriptorActivity.cpp.

void RTT::os::Thread::getPeriod ( secs s,
nsecs ns 
) const
inherited

Get the periodicity of this thread (seconds, nanoseconds)

Definition at line 570 of file Thread.cpp.

nsecs RTT::os::Thread::getPeriodNS ( ) const
virtualinherited

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 596 of file Thread.cpp.

unsigned int RTT::os::Thread::getPid ( ) const
virtualinherited

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 611 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

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

int RTT::os::Thread::getPriority ( ) const
virtualinherited

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 586 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

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

RunnableInterface * ActivityInterface::getRunner ( ) const
virtualinherited

Returns a pointer to the RunnableInterface instance.

Definition at line 70 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::runner.

Referenced by RTT::ExecutionEngine::setActivity().

int RTT::os::Thread::getScheduler ( ) const
virtualinherited

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 488 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler(), RTT::os::rtos_task_set_period(), and RTT::os::rtos_task_set_scheduler().

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

Seconds RTT::os::Thread::getStopTimeout ( ) const
inherited

Returns the desired timeout for stop(), in seconds.

If not set with setStopTimeout, the timeout is deduced from the global values lock_timeout_period_factor and lock_timeout_no_period_in_s

Definition at line 408 of file Thread.cpp.

References RTT::os::Thread::getPeriod().

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

virtual RTOS_TASK* RTT::os::Thread::getTask ( )
inlinevirtualinherited

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 205 of file Thread.hpp.

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

virtual const RTOS_TASK* RTT::os::Thread::getTask ( ) const
inlinevirtualinherited

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 210 of file Thread.hpp.

int FileDescriptorActivity::getTimeout ( ) const
virtual

Get the timeout, in milliseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Returns
The timeout (milliseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 169 of file FileDescriptorActivity.cpp.

int FileDescriptorActivity::getTimeout_us ( ) const
virtual

Get the timeout, in microseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Returns
The timeout (microseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 171 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::hasError ( ) const
virtual

True if one of the file descriptors has a problem (for instance it has been closed)

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 222 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::hasTimeout ( ) const
virtual

True if the base::RunnableInterface has been triggered because of a timeout, instead of because of new data is available.

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 224 of file FileDescriptorActivity.cpp.

bool RTT::Activity::initialize ( )
virtualinherited
bool RTT::Activity::isActive ( ) const
virtualinherited

Query if the activity is started.

This is less strict than isRunning(), it is true during initialize(), step() or loop() and finalize(). Use this method to check if an activity was start()ed.

Returns
true if it is active, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 144 of file Activity.cpp.

References RTT::os::Thread::isActive().

Referenced by start(), and trigger().

bool RTT::Activity::isPeriodic ( ) const
virtualinherited

Inspect if this activity is periodic.

If so, it will call RunnableInterface::step(). If the activity is not periodic, it will call RunnableInterface::loop().

Returns
true if periodic.

Implements RTT::base::ActivityInterface.

Definition at line 159 of file Activity.cpp.

References RTT::os::Thread::isPeriodic().

bool FileDescriptorActivity::isRunning ( ) const
virtual

Query if the activity is initialized and executing.

This is more strict than isActive(), it is only true after initialize() is executed and before finalize() is executed. More-over, an Activity may decide to be temporarily not running (not executing code), waiting for a signal to proceed. If this->isActive() and !this->isRunning() then the Activity is in a waiting state.

Returns
true if it is running, false otherwise

Reimplemented from RTT::Activity.

Definition at line 167 of file FileDescriptorActivity.cpp.

References RTT::Activity::isRunning().

bool ThreadInterface::isSelf ( ) const
inherited
bool FileDescriptorActivity::isUpdated ( int  fd) const
virtual

True if this specific FD has new data.

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Parameters
fdthe file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 220 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isWatched ( int  fd) const
virtual

True if this specific FD is being watched by the activity.

Parameters
fdthe file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 226 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::loop ( )
virtual
See also
base::RunnableInterface::loop()

Reimplemented from RTT::Activity.

Definition at line 297 of file FileDescriptorActivity.cpp.

References RTT::Error, and step().

bool ActivityInterface::run ( RunnableInterface r)
virtualinherited

Run exclusively this RunnableInterface.

Precondition
this->isRunning() == false
Parameters
rThe RunnableInterface to run exclusively.
Returns
true if succeeded, false otherwise

Definition at line 57 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::isActive(), RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::setActivity().

Referenced by RTT::TaskContext::setActivity().

bool RTT::Activity::setCpuAffinity ( unsigned  cpu)
virtualinherited

Set the cpu affinity of this activity.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Definition at line 168 of file Activity.cpp.

References RTT::os::Thread::setCpuAffinity().

void RTT::os::Thread::setLockTimeoutNoPeriod ( double  timeout_in_s)
staticinherited

Sets the lock timeout for a thread which does not have a period The default is 1 second.

Parameters
timeout_in_sthe timeout is seconds

Definition at line 71 of file Thread.cpp.

void RTT::os::Thread::setLockTimeoutPeriodFactor ( double  factor)
staticinherited

Set the lock timeout for a thread which has a period by a factor of the period The default is factor 10.

Parameters
factorFactor of the period

Definition at line 73 of file Thread.cpp.

void RTT::os::Thread::setMaxOverrun ( int  m)
virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 637 of file Thread.cpp.

bool RTT::os::Thread::setPeriod ( secs  s,
nsecs  ns 
)
inherited

Set the periodicity of this thread (seconds, nanoseconds)

Definition at line 542 of file Thread.cpp.

References rtos_sem_signal(), and RTT::os::rtos_task_make_periodic().

bool RTT::os::Thread::setPeriod ( TIME_SPEC  p)
inherited

Set the periodicity of this thread.

Definition at line 565 of file Thread.cpp.

References RTT::os::Thread::setPeriod().

bool FileDescriptorActivity::setPeriod ( Seconds  period)
virtual

Set the intended period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 159 of file FileDescriptorActivity.cpp.

bool RTT::os::Thread::setPriority ( int  priority)
virtualinherited

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 576 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::setScheduler ( int  sched_type)
virtualinherited

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 469 of file Thread.cpp.

References RTT::os::CheckScheduler(), RTT::os::Thread::getScheduler(), RTT::Info, rtos_sem_signal(), 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)
staticinherited

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 69 of file Thread.cpp.

void RTT::os::Thread::setStopTimeout ( Seconds  s)
inherited

Sets the timeout for stop(), in seconds.

See also
getStopTimeout

Definition at line 403 of file Thread.cpp.

void FileDescriptorActivity::setTimeout ( int  timeout)
virtual

Sets the timeout, in milliseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Precondition
0 <= timeout (otherwise an error is logged and timeout is ignored)
Parameters
timeoutThe timeout (milliseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 173 of file FileDescriptorActivity.cpp.

References setTimeout_us().

void FileDescriptorActivity::setTimeout_us ( int  timeout_us)
virtual

Sets the timeout, in microseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Precondition
0 <= timeout (otherwise an error is logged and timeout_us is ignored)
Parameters
timeoutThe timeout (microseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 177 of file FileDescriptorActivity.cpp.

References RTT::Error.

Referenced by setTimeout().

void RTT::os::Thread::setWaitPeriodPolicy ( int  p)
virtualinherited

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 647 of file Thread.cpp.

References RTT::os::rtos_task_set_wait_period_policy().

bool FileDescriptorActivity::start ( )
virtual

Start the activity.

This will call RunnableInterface::initialize() and upon success, effectively start the activity, by running the RunnableInterface::step() or RunnableInterface::loop() in a thread.

See also
isPeriodic()
Returns
true if the activity is started, false otherwise

Reimplemented from RTT::Activity.

Definition at line 230 of file FileDescriptorActivity.cpp.

References RTT::Error, RTT::Activity::isActive(), and RTT::Activity::start().

void FileDescriptorActivity::step ( )
virtual

Called by loop() when data is available on the file descriptor.

By default, it calls step() on the associated runner interface (if any)

Reimplemented from RTT::Activity.

Definition at line 410 of file FileDescriptorActivity.cpp.

References RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::step().

Referenced by loop().

bool FileDescriptorActivity::stop ( )
virtual

Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop().

If no errors occured, RunnableInterface::finalize() is called.

See also
isPeriodic()
Returns
true if the activity is stopped, false otherwise

Reimplemented from RTT::Activity.

Definition at line 418 of file FileDescriptorActivity.cpp.

References RTT::Activity::stop().

Referenced by ~FileDescriptorActivity().

void RTT::os::Thread::terminate ( )
protectedinherited

Exit and destroy the thread.

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

Definition at line 621 of file Thread.cpp.

References rtos_sem_signal(), and RTT::os::rtos_task_delete().

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

os::ThreadInterface * RTT::Activity::thread ( )
virtualinherited

Returns a pointer to the thread which will run this activity.

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 90 of file Activity.cpp.

unsigned int RTT::os::ThreadInterface::threadNumber ( ) const
inlineinherited

The unique thread number (within the same process).

Definition at line 216 of file ThreadInterface.hpp.

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

bool FileDescriptorActivity::trigger ( )
virtual

Force calling step() even if no data is available on the file descriptor, and returns true if the signalling was successful.

Reimplemented from RTT::Activity.

Definition at line 273 of file FileDescriptorActivity.cpp.

References RTT::Activity::isActive().

void FileDescriptorActivity::unwatch ( int  fd)
virtual

Removes a file descriptor from the set of watched FDs.

This method is thread-safe, i.e. it can be called from any thread

Parameters
fdthe file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 200 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::watch ( int  fd)
virtual

Sets the file descriptor the activity should be listening to.

This method is thread-safe, i.e. it can be called from any thread

Parameters
fdthe file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 188 of file FileDescriptorActivity.cpp.

References RTT::Error.

void RTT::os::Thread::yield ( )
virtualinherited

Yields (put to the back of the scheduler queue) the calling thread.

Implements RTT::os::ThreadInterface.

Definition at line 616 of file Thread.cpp.

References RTT::os::rtos_task_yield().

Member Data Documentation

RunnableInterface* RTT::base::ActivityInterface::runner
protectedinherited
int RTT::os::ThreadInterface::threadnb
protectedinherited

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

See also
os::threads

Definition at line 228 of file ThreadInterface.hpp.

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


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