Orocos Real-Time Toolkit  2.9.0
TimerThread.hpp
Go to the documentation of this file.
1 /***************************************************************************
2  tag: Peter Soetens Wed Apr 17 16:01:36 CEST 2002 TimerThread.h
3 
4  TimerThread.h - description
5  -------------------
6  begin : Wed April 17 2002
7  copyright : (C) 2002 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU General Public *
13  * License as published by the Free Software Foundation; *
14  * version 2 of the License. *
15  * *
16  * As a special exception, you may use this file as part of a free *
17  * software library without restriction. Specifically, if other files *
18  * instantiate templates or use macros or inline functions from this *
19  * file, or you compile this file and link it with other files to *
20  * produce an executable, this file does not by itself cause the *
21  * resulting executable to be covered by the GNU General Public *
22  * License. This exception does not however invalidate any other *
23  * reasons why the executable file might be covered by the GNU General *
24  * Public License. *
25  * *
26  * This library is distributed in the hope that it will be useful, *
27  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
28  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
29  * Lesser General Public License for more details. *
30  * *
31  * You should have received a copy of the GNU General Public *
32  * License along with this library; if not, write to the Free Software *
33  * Foundation, Inc., 59 Temple Place, *
34  * Suite 330, Boston, MA 02111-1307 USA *
35  * *
36  ***************************************************************************/
37 
38 
39 #ifndef ORO_TIMERTHREAD_HPP
40 #define ORO_TIMERTHREAD_HPP
41 
42 
43 #include <list>
44 #include <vector>
45 #include <string>
46 #include <boost/shared_ptr.hpp>
47 #include <boost/weak_ptr.hpp>
48 
49 #include "../os/Thread.hpp"
50 #include "../os/Mutex.hpp"
51 #include "rtt-extras-fwd.hpp"
52 
53 namespace RTT
54 { namespace extras {
55 
61  typedef boost::shared_ptr<TimerThread> TimerThreadPtr;
62 
70  : public os::Thread
71  {
72  typedef std::vector<PeriodicActivity*> ActivityList ;
73  ActivityList tasks;
74  bool cleanup;
75  public:
76  static const unsigned int MAX_ACTIVITIES = 64;
85  TimerThread(int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);
86 
97  TimerThread(int scheduler, int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);
98 
102  virtual ~TimerThread();
103 
108  bool addActivity( PeriodicActivity* t );
109 
110  bool removeActivity( PeriodicActivity* t );
111 
116  static TimerThreadPtr Instance(int priority, double periodicity);
120  static TimerThreadPtr Instance(int scheduler, int priority, double periodicity);
124  static TimerThreadPtr Instance(int scheduler, int priority, double periodicity, unsigned cpu_affinity);
125  protected:
126  virtual bool initialize();
127  virtual void step();
128  virtual void finalize();
129  void reorderList();
135 
140  typedef std::vector< boost::weak_ptr<TimerThread> > TimerThreadList;
141 
145  static TimerThreadList TimerThreads;
146  };
147 }} // namespace RTT
148 
149 #endif
This Periodic Thread is meant for executing a PeriodicActivity object periodically.
Definition: TimerThread.hpp:69
A Thread object executes user code in its own thread.
Definition: Thread.hpp:109
std::vector< boost::weak_ptr< TimerThread > > TimerThreadList
A Boost weak pointer is used to store non-owning pointers to shared objects.
os::MutexRecursive mutex
A Activity can not create a activity of same priority from step().
#define RTT_API
Definition: rtt-config.h:97
boost::shared_ptr< TimerThread > TimerThreadPtr
TimerThread objects are reference counted such that when the last PeriodicActivity which uses it is d...
Definition: TimerThread.hpp:61
static TimerThreadList TimerThreads
All timer threads.
A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constrai...
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
An object oriented wrapper around a recursive mutex.
Definition: Mutex.hpp:218