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

An activity which is triggered by an IRQ edge. More...

#include <rtt/extras/IRQActivity.hpp>

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

Classes

struct  Provider
 If this interface is derived from one of the TaskContext objects which are executed by this activity, then the activity can auto-configure itself (i.e. More...
 

Public Types

typedef boost::shared_ptr< ActivityInterfaceshared_ptr
 

Public Member Functions

 IRQActivity (int priority, base::RunnableInterface *_r=0, const std::string &name="IRQActivity")
 Create a IRQActivity with a given priority and base::RunnableInterface instance. More...
 
 IRQActivity (int scheduler, int priority, base::RunnableInterface *_r=0, const std::string &name="IRQActivity")
 Create a IRQActivity with a given scheduler type, priority and base::RunnableInterface instance. More...
 
virtual ~IRQActivity ()
 
int getIRQ () const
 
void setIRQ (int irq)
 
virtual bool start ()
 Start the activity. More...
 
virtual bool execute ()
 Execute this activity such that it executes a step or loop of the RunnableInterface. More...
 
virtual bool trigger ()
 Trigger that work has to be done. More...
 
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 bool isRunning () const
 Query if the activity is initialized and executing. More...
 
virtual bool isActive () const
 Query if the activity is started. More...
 
virtual bool isPeriodic () const
 Inspect if this activity is periodic. More...
 
virtual Seconds getPeriod () const
 Get the periodicity of this activity in Seconds. More...
 
void getPeriod (secs &s, nsecs &ns) const
 Get the periodicity of this thread (seconds, nanoseconds) More...
 
virtual bool setPeriod (Seconds period)
 Set the periodicity of this activity in Seconds. 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 step ()
 
virtual void loop ()
 
virtual bool breakLoop ()
 
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 an IRQ edge.

This activity is only available on xenomai

The IRQ line can be given by two means:

Definition at line 73 of file IRQActivity.hpp.

Member Typedef Documentation

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

Constructor & Destructor Documentation

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

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

The default scheduler for IRQActivity objects is ORO_SCHED_RT.

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

Definition at line 50 of file IRQActivity.cpp.

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

Create a IRQActivity with a given scheduler type, priority and base::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.

Definition at line 55 of file IRQActivity.cpp.

IRQActivity::~IRQActivity ( )
virtual

Definition at line 60 of file IRQActivity.cpp.

References RTT::Activity::stop().

Member Function Documentation

bool RTT::Activity::breakLoop ( )
virtualinherited
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 IRQActivity::getIRQ ( ) const

Definition at line 65 of file IRQActivity.cpp.

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 RTT::Activity::getPeriod ( ) const
virtualinherited

Get the periodicity of this activity in Seconds.

Returns
The execution period of this activity (zero if !this->isPeriodic() ).

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 148 of file Activity.cpp.

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

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.

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 RTT::extras::FileDescriptorActivity::start(), and RTT::extras::FileDescriptorActivity::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 RTT::Activity::isRunning ( ) const
virtualinherited

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

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 140 of file Activity.cpp.

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

Referenced by RTT::extras::FileDescriptorActivity::isRunning().

bool ThreadInterface::isSelf ( ) const
inherited
void RTT::Activity::loop ( )
virtualinherited
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 IRQActivity::setIRQ ( int  irq)

Definition at line 66 of file IRQActivity.cpp.

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::Activity::setPeriod ( Seconds  s)
virtualinherited

Set the periodicity of this activity in Seconds.

Note that not all activity implementation support periods. A period of s == 0 indicates non periodic. A non supported setting returns false.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 153 of file Activity.cpp.

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

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 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 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 IRQActivity::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 69 of file IRQActivity.cpp.

References RTT::Activity::breakLoop(), RTT::Logger::endl(), RTT::Logger::Error, RTT::extras::IRQActivity::Provider::getIRQ(), RTT::ExecutionEngine::getParent(), RTT::Logger::log(), RTT::Activity::loop(), RTT::Activity::start(), RTT::base::RunnableInterface::step(), and RTT::Activity::step().

void RTT::Activity::step ( )
virtualinherited
bool RTT::Activity::stop ( )
virtualinherited

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

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 128 of file Activity.cpp.

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

Referenced by RTT::extras::FileDescriptorActivity::stop(), RTT::Activity::~Activity(), and ~IRQActivity().

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 RTT::Activity::trigger ( )
virtualinherited

Trigger that work has to be done.

When you invoke trigger(), you intend to notify the mechanism that calls execute(), that execute() should be called. This allows a separation between actually executing code (execute()) and notifying that code must be executed (trigger()). A trigger may be ignored by the implementation, in which case trigger returns false.

Semantics: If trigger() returns true, the activity will be executed at least once from the moment trigger() is called.

Return values
trueWhen this->isActive() and the implementation allows external triggers.
falseWhen !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 132 of file Activity.cpp.

References RTT::os::Thread::isActive(), and RTT::os::Thread::start().

Referenced by RTT::corba::CorbaDispatcher::dispatchChannel().

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: