RTT::OS::ThreadInterface Class Reference

A thread which is being run (or runs a RunnableInterface). More...

#include <rtt/os/ThreadInterface.hpp>

Inheritance diagram for RTT::OS::ThreadInterface:

Public Member Functions
virtual bool	run (RunnableInterface *r)=0
	Run the functionality of one RunnableInterface object.
virtual bool	start ()=0
	Start the Thread.
virtual bool	stop ()=0
	Stop the Thread.
virtual Seconds	getPeriod () const =0
	Get the periodicity in Seconds.
virtual bool	setPeriod (Seconds new_period)=0
	Set the periodicity in Seconds.
virtual nsecs	getPeriodNS () const =0
	Get the periodicity in nanoseconds.
virtual bool	isRunning () const =0
	Returns whether the thread is running.
virtual bool	isActive () const =0
	Returns whether the thread is active.
virtual const char *	getName () const =0
	Read the name of this task.
virtual RTOS_TASK *	getTask ()=0
	Get the RTOS_TASK pointer.
virtual bool	setScheduler (int sched_type)=0
	Change the scheduler policy in which this thread runs.
virtual int	getScheduler () const =0
	Get the scheduler policy in which this thread runs.
virtual bool	setPriority (int priority)=0
	Set the priority of this Thread.
virtual int	getPriority () const =0
	The priority of this Thread.
virtual void	yield ()=0
	Yields (put to the back of the scheduler queue) the calling thread.
unsigned int	threadNumber () const
	The unique thread number (within the same process).
Protected Attributes
int	threadnb
	Threads are given an unique number, which follows thread creation order.

Detailed Description

A thread which is being run (or runs a RunnableInterface).

The periodicity is the time between the starting of two runs or zero for non periodic threads.

Definition at line 51 of file ThreadInterface.hpp.

Member Function Documentation

virtual Seconds RTT::OS::ThreadInterface::getPeriod ( ) const [pure virtual]

Get the periodicity in Seconds.

Return zero if non periodic.

Implemented in RTT::Activity, RTT::NonPeriodicActivity, RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual nsecs RTT::OS::ThreadInterface::getPeriodNS ( ) const [pure virtual]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implemented in RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual int RTT::OS::ThreadInterface::getPriority ( ) const [pure virtual]

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

Implemented in RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual int RTT::OS::ThreadInterface::getScheduler ( ) const [pure virtual]

Get the scheduler policy in which this thread runs.

Returns:: An OS-specific value which represents the used scheduler.

See also:: setScheduler

Implemented in RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual RTOS_TASK* RTT::OS::ThreadInterface::getTask ( ) [pure virtual]

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.

Implemented in RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual bool RTT::OS::ThreadInterface::isActive ( ) const [pure virtual]

Returns whether the thread is active.

A thread is active between the invocation of start() and the invocation of stop().

Implemented in RTT::Activity, RTT::NonPeriodicActivity, RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual bool RTT::OS::ThreadInterface::isRunning ( ) const [pure virtual]

Returns whether the thread is running.

A thread is running if it is executing its loop() function or in the process of periodically calling step(). Hence for periodic threads, isRunning() == isActive() while for non-periodic threads, isRunning() is only true if isActive() and it is executing loop().

Implemented in RTT::Activity, RTT::NonPeriodicActivity, RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, RTT::OS::Thread, and RTT::SimulationThread.

virtual bool RTT::OS::ThreadInterface::run ( RunnableInterface * r ) [pure virtual]

Run the functionality of one RunnableInterface object.

Only one RunnableInterface object can be run, the old one is disconnected.

Parameters:

r

The object to run or zero to clear.

Returns:: true if accepted, false if the thread is running.

Implemented in RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual bool RTT::OS::ThreadInterface::setPeriod ( Seconds new_period ) [pure virtual]

Set the periodicity in Seconds.

Parameters:

new_period

A positive number expressing the period

Returns:: true if it was accepted, false otherwise.

Implemented in RTT::Activity, RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual bool RTT::OS::ThreadInterface::setPriority ( int priority ) [pure virtual]

Set the priority of this Thread.

Parameters:

priority

The priority given upon construction of this thread. It has to be interpreted in the current OS scheduler.

See also:: setScheduler

Implemented in RTT::OS::MainThread, RTT::OS::PeriodicThread, RTT::OS::SingleThread, and RTT::OS::Thread.

virtual bool RTT::OS::ThreadInterface::setScheduler ( int sched_type ) [pure virtual]

Change the scheduler policy in which this thread runs.

Parameters:

sched_type

An 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.