RTT::TimerThread Class Reference

This Periodic Thread is meant for executing a PeriodicActivity object periodically. More...

#include <rtt/TimerThread.hpp>

Inheritance diagram for RTT::TimerThread:

Public Member Functions
	TimerThread (int priority, const std::string &name, double periodicity)
	Create a periodic Timer thread.
	TimerThread (int scheduler, int priority, const std::string &name, double periodicity)
	Create a periodic Timer thread with a given scheduler type.
virtual	~TimerThread ()
	Destructor.
bool	addActivity (PeriodicActivity *t)
	Add an Timer that will be ticked every execution period Once added, a timer can not be removed.
bool	removeActivity (PeriodicActivity *t)
virtual bool	run (OS::RunnableInterface *r)
	Run the functionality of one RunnableInterface object.
virtual bool	start ()
	Start the Thread.
virtual bool	stop ()
	Stop the Thread.
bool	setPeriod (Seconds s)
	Set the periodicity in Seconds.
bool	setPeriod (secs s, nsecs ns)
bool	setPeriod (TIME_SPEC p)
	Set the periodicity of this thread.
void	getPeriod (secs &s, nsecs &ns) const
virtual Seconds	getPeriod () const
	Get the periodicity in Seconds.
virtual nsecs	getPeriodNS () const
	Get the periodicity in nanoseconds.
virtual bool	isRunning () const
	Returns whether the thread is running.
virtual bool	isActive () const
	Returns whether the thread is active.
virtual const char *	getName () const
	Read the name of this task.
virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer.
virtual bool	setScheduler (int sched_type)
	Change the scheduler policy in which this thread runs.
virtual int	getScheduler () const
	Get the scheduler policy in which this thread runs.
virtual bool	setPriority (int priority)
	Set the priority of this Thread.
virtual int	getPriority () const
	The priority of this Thread.
virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread.
void	setMaxOverrun (int m)
int	getMaxOverrun () const
void	terminate ()
	Exit and destroy the thread.
void	emergencyStop ()
unsigned int	threadNumber () const
	The unique thread number (within the same process).
Static Public Member Functions
static TimerThreadPtr	Instance (int priority, double periodicity)
	Create a TimerThread with a given priority and periodicity, using the default scheduler, ORO_SCHED_RT.
static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity)
	Create a TimerThread with a given scheduler, priority and periodicity.
Static Public Attributes
static const unsigned int	MAX_ACTIVITIES = 64
Protected Types
typedef std::vector < boost::weak_ptr< TimerThread > >	TimerThreadList
	A Boost weak pointer is used to store non-owning pointers to shared objects.
Protected Member Functions
virtual bool	initialize ()
virtual void	step ()
virtual void	finalize ()
void	reorderList ()
virtual void	continuousStepping (bool yes_no)
virtual bool	setToStop ()
	Use this from within step() to stop this thread.
Protected Attributes
OS::MutexRecursive	mutex
	A Activity can not create a activity of same priority from step().
int	threadnb
	Threads are given an unique number, which follows thread creation order.
Static Protected Attributes
static TimerThreadList	TimerThreads
	All timer threads.

Detailed Description

This Periodic Thread is meant for executing a PeriodicActivity object periodically.

See also:: PeriodicActivity

Definition at line 71 of file TimerThread.hpp.

Constructor & Destructor Documentation

RTT::TimerThread::TimerThread	(	int	priority,
		const std::string &	name,
		double	periodicity
	)

Create a periodic Timer thread.

Parameters:

	priority	The priority of this thread
	periodicity	The periodicity of this thread in seconds (e.g. 0.001 = 1000Hz )

RTT::TimerThread::TimerThread	(	int	scheduler,
		int	priority,
		const std::string &	name,
		double	periodicity
	)

Create a periodic Timer thread with a given scheduler type.

Parameters:

	scheduler	The scheduler in which this thread runs
	priority	The priority of this thread within scheduler
	periodicity	The periodicity of this thread in seconds (e.g. 0.001 = 1000Hz )

Member Function Documentation

virtual Seconds RTT::OS::PeriodicThread::getPeriod ( ) const [virtual, inherited]

Get the periodicity in Seconds.

Return zero if non periodic.

Implements RTT::OS::ThreadInterface.

virtual nsecs RTT::OS::PeriodicThread::getPeriodNS ( ) const [virtual, inherited]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::OS::ThreadInterface.

virtual int RTT::OS::PeriodicThread::getPriority ( ) const [virtual, inherited]

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.

virtual int RTT::OS::PeriodicThread::getScheduler ( ) const [virtual, inherited]

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.

virtual RTOS_TASK* RTT::OS::PeriodicThread::getTask ( ) [inline, virtual, inherited]

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 119 of file PeriodicThread.hpp.

virtual bool RTT::OS::PeriodicThread::isActive ( ) const [virtual, inherited]

Returns whether the thread is active.

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

Implements RTT::OS::ThreadInterface.

virtual bool RTT::OS::PeriodicThread::isRunning ( ) const [virtual, inherited]

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().

Implements RTT::OS::ThreadInterface.

Reimplemented in RTT::SimulationThread.

virtual bool RTT::OS::PeriodicThread::run ( OS::RunnableInterface * r ) [virtual, inherited]

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.

Implements RTT::OS::ThreadInterface.

bool RTT::OS::PeriodicThread::setPeriod ( Seconds new_period ) [virtual, inherited]

Set the periodicity in Seconds.

Parameters:

new_period

A positive number expressing the period

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

Implements RTT::OS::ThreadInterface.

virtual bool RTT::OS::PeriodicThread::setPriority ( int priority ) [virtual, inherited]

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

Implements RTT::OS::ThreadInterface.

virtual bool RTT::OS::PeriodicThread::setScheduler ( int sched_type ) [virtual, inherited]

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.