This class allows to define a timer object which can be armed in single shot and periodic mode. More...

#include <rtt/os/Timer.hpp>

Inheritance diagram for RTT::os::Timer:

Classes
struct	TimerInfo

Public Types
typedef int	TimerId
	A positive numeric ID representing a timer. More...

enum	WorkReason { TimeOut = 0, Trigger, IOReady }

Public Member Functions
	Timer (TimerId max_timers, int scheduler=-1, int priority=0, const std::string &name=std::string("Timer"))
	Create a named timer object which can hold max_timers timers. More...

	~Timer ()

virtual void	timeout (TimerId timer_id)
	This function is called each time an armed or periodic timer expires. More...

void	setMaxTimers (TimerId max)
	Change the maximum number of timers in this object. More...

bool	startTimer (TimerId timer_id, Seconds period)
	Start a periodic timer which starts first over period seconds and then every period seconds. More...

bool	arm (TimerId timer_id, Seconds wait_time)
	Arm a timer to fire once over wait_time seconds. More...

TimeService::Seconds	timeRemaining (TimerId timer_id) const
	Returns the remaining time before this timer elapses. More...

bool	isArmed (TimerId timer_id) const
	Check if a given timer id is armed. More...

bool	killTimer (TimerId timer_id)
	Disable an armed timer. More...

bool	waitFor (RTT::os::Timer::TimerId id)
	Wait for a timer to expire. More...

bool	waitForUntil (RTT::os::Timer::TimerId id, nsecs abs_time)
	Wait for a timer to expire with timeout. More...

virtual void	work (WorkReason reason)
	Identical to step() but gives a reason why the function was called. More...

virtual os::ThreadInterface *	getThread () const
	Get the thread this object is run in. More...

virtual bool	hasWork ()
	This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again). More...

ActivityInterface *	getActivity () const
	Query for the task this interface is run in. More...

virtual void	setActivity (ActivityInterface *task)
	Set the task this interface is run in. More...

Protected Types
typedef TimeService::nsecs	Time

typedef std::vector< TimerInfo >	TimerIds
	Index in vector is the timer id. More...

Protected Member Functions
bool	initialize ()
	The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started. More...

void	finalize ()
	The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped. More...

void	step ()
	The method that will be (periodically) executed when this object is run in an Activity. More...

void	loop ()
	The method that will be executed once when this class is run in a non periodic Activity. More...

bool	breakLoop ()
	This method is called by the framework to break out of the loop() method. More...

Protected Attributes
base::ActivityInterface *	mThread

Condition	mcond

Mutex	mmutex

TimerIds	mtimers

bool	mdo_quit

Detailed Description

This class allows to define a timer object which can be armed in single shot and periodic mode.

In Order to use this class, derive your class from Timer and implement the timeout() method. The resolution of this class depends completely on the timer resolution of the underlying operating system.

If you do not attach an activity, the Timer will create a thread of its own and start it. That thread will be stopped and cleaned up when the Timer is destroyed.

Definition at line 68 of file Timer.hpp.

Member Typedef Documentation

typedef TimeService::nsecs RTT::os::Timer::Time

protected

Definition at line 80 of file Timer.hpp.

typedef int RTT::os::Timer::TimerId

A positive numeric ID representing a timer.

Definition at line 75 of file Timer.hpp.

typedef std::vector<TimerInfo> RTT::os::Timer::TimerIds

protected

Index in vector is the timer id.

1st Time is the absolute time upon which the timer expires. 2nd Time is the optional period of the timer.

Definition at line 97 of file Timer.hpp.

Member Enumeration Documentation

enum RTT::base::RunnableInterface::WorkReason

inherited

Enumerator
TimeOut
Trigger
IOReady

Definition at line 76 of file RunnableInterface.hpp.

Constructor & Destructor Documentation

RTT::Timer::Timer	(	TimerId	max_timers,
		int	scheduler = `-1`,
		int	priority = `0`,
		const std::string &	name = `std::string("Timer")`
	)

Create a named timer object which can hold max_timers timers.

A Timer must be executed in a non periodic thread (or the main thread) or it will refuse to start. If scheduler is set to -1 (default) no thread is created and you need to attach a thread yourself to this Timer.

Parameters

max_timers	The initial amount of timers this Timer can monitor. Keep as low as possible. See also setMaxTimers().
scheduler	The Orocos scheduler type for this timer. ORO_SCHED_OTHER or ORO_SCHED_RT or -1 to attach your own thread.
priority	The priority within the scheduler of this timer.
name	The name of the timer (ie the underlying Activity/Thread)

Definition at line 137 of file Timer.cpp.

References mThread, mtimers, and RTT::base::ActivityInterface::start().

RTT::Timer::~Timer ( )

Definition at line 147 of file Timer.cpp.

References mThread.

Member Function Documentation

bool RTT::Timer::arm	(	TimerId	timer_id,
		Seconds	wait_time
	)

Arm a timer to fire once over wait_time seconds.

Parameters

timer_id	The number of the timer, starting from zero.
wait_time	The time in seconds from now, when the timer should expire. This is a floating point number.

See also: killTimer to disable it before it fires.

Definition at line 183 of file Timer.cpp.

References RTT::os::Condition::broadcast(), RTT::Error, mcond, mmutex, mtimers, rtos_get_time_ns(), and RTT::Seconds_to_nsecs().

bool RTT::Timer::breakLoop ( )

protectedvirtual

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns: true if the loop could be notified to return.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 126 of file Timer.cpp.

void RTT::Timer::finalize ( )

protectedvirtual

The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.

Implements RTT::base::RunnableInterface.

Definition at line 55 of file Timer.cpp.

ActivityInterface * RTT::base::RunnableInterface::getActivity ( ) const

inlineinherited

Query for the task this interface is run in.

Zero denotes that no task is present to run it, and hence no detailed information is available.

Returns: The Activity which runs this RunnableInterface.

Definition at line 175 of file RunnableInterface.hpp.

Referenced by RTT::base::TaskCore::activate(), RTT::scripting::StateMachine::createEventTransition(), RTT::base::TaskCore::fatal(), RTT::TaskContext::getActivity(), RTT::base::TaskCore::getCpuAffinity(), RTT::base::TaskCore::getPeriod(), RTT::base::TaskCore::isActive(), RTT::ExecutionEngine::process(), RTT::ExecutionEngine::removeFunction(), RTT::ExecutionEngine::runFunction(), RTT::base::TaskCore::setCpuAffinity(), RTT::base::TaskCore::setPeriod(), RTT::ExecutionEngine::stopTask(), RTT::base::TaskCore::trigger(), and RTT::base::TaskCore::update().

os::ThreadInterface * RTT::RunnableInterface::getThread ( ) const

virtualinherited

Get the thread this object is run in.

Returns: a pointer to the thread or 0 if not run by a thread.

Reimplemented in RTT::ExecutionEngine.

Definition at line 82 of file CoreRunnableInterface.cpp.

References RTT::base::ActivityInterface::thread().

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

bool RTT::RunnableInterface::hasWork ( )

virtualinherited

This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again).

By default, false is returned. You should only return true in case there is a temporary reason to (re-)run step.

Returns: true if this object should be run.

See also: extras::SequentialActivity implementation to see how this can be of use.

Reimplemented in RTT::ExecutionEngine.

Definition at line 67 of file CoreRunnableInterface.cpp.

Referenced by RTT::extras::SequentialActivity::trigger().

bool RTT::Timer::initialize ( )

protectedvirtual

The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.

Implements RTT::base::RunnableInterface.

Definition at line 50 of file Timer.cpp.

bool RTT::Timer::isArmed ( TimerId timer_id ) const

Check if a given timer id is armed.

Parameters

timer_id The number of the timer, starting from zero.

Definition at line 203 of file Timer.cpp.

References RTT::Error, mmutex, and mtimers.

bool RTT::Timer::killTimer ( TimerId timer_id )

Disable an armed timer.

Parameters

timer_id The number of the timer, starting from zero.

Definition at line 230 of file Timer.cpp.

References RTT::Error, mmutex, and mtimers.

void RTT::Timer::loop ( )

protectedvirtual

The method that will be executed once when this class is run in a non periodic Activity.

The default implementation calls step() once.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 61 of file Timer.cpp.

References rtos_get_time_ns().

void RTT::RunnableInterface::setActivity ( ActivityInterface * task )

virtualinherited

Set the task this interface is run in.

A Zero means no task is running it.

Parameters

task	The ActivityInterface running this interface.

Reimplemented in RTT::ExecutionEngine.

Definition at line 73 of file CoreRunnableInterface.cpp.

References RTT::base::ActivityInterface::disableRun().

Referenced by RTT::base::ActivityInterface::ActivityInterface(), RTT::base::ActivityInterface::run(), RTT::ExecutionEngine::setActivity(), and RTT::base::ActivityInterface::~ActivityInterface().

void RTT::Timer::setMaxTimers ( TimerId max )

Change the maximum number of timers in this object.

Any added timer with id >= max will be removed.

Definition at line 158 of file Timer.cpp.

References mmutex, and mtimers.

bool RTT::Timer::startTimer	(	TimerId	timer_id,
		Seconds	period
	)

Start a periodic timer which starts first over period seconds and then every period seconds.

Parameters

timer_id	The number of the timer, starting from zero.
period	The period when the timer should expire. This is a floating point number.

See also: killTimer to disable it again.

Definition at line 164 of file Timer.cpp.

References RTT::os::Condition::broadcast(), RTT::Error, mcond, mmutex, mtimers, rtos_get_time_ns(), and RTT::Seconds_to_nsecs().

void RTT::Timer::step ( )

protectedvirtual

The method that will be (periodically) executed when this object is run in an Activity.

Implements RTT::base::RunnableInterface.

Definition at line 57 of file Timer.cpp.

void RTT::Timer::timeout ( TimerId timer_id )

virtual

This function is called each time an armed or periodic timer expires.

The user must implement this method to catch the time outs.

Parameters

timer_id The number of the timer that expired.

Definition at line 153 of file Timer.cpp.

double RTT::Timer::timeRemaining ( TimerId timer_id ) const

Returns the remaining time before this timer elapses.

Return values

0.0	if the timer is not armed or has already elapsed.

Returns: the remaining time in seconds.

Definition at line 214 of file Timer.cpp.

References RTT::Error, mmutex, mtimers, RTT::nsecs_to_Seconds(), and rtos_get_time_ns().

bool RTT::Timer::waitFor ( RTT::os::Timer::TimerId id )

Wait for a timer to expire.

Parameters

timer_id The number of the timer, starting from zero.

Returns: true if timer has expired or if it was killed and false if the timer is not armed

Definition at line 244 of file Timer.cpp.

References RTT::Error, mmutex, and mtimers.

bool RTT::Timer::waitForUntil	(	RTT::os::Timer::TimerId	id,
		nsecs	abs_time
	)

Wait for a timer to expire with timeout.

Parameters

timer_id	The number of the timer, starting from zero.
abs_time	The absolute time to wait until before the condition happens. Use rtos_get_time_ns() to get the current time and Seconds_to_nsecs to add a certain amount to the result.