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:

Public Types
typedef int	TimerId
	A positive numeric ID representing a timer.
Public Member Functions
	Timer (TimerId max_timers, int scheduler=-1, int priority=0)
	Create a timer object which can hold max_timers timers.
virtual void	timeout (TimerId timer_id)
	This function is called each time an armed or periodic timer expires.
void	setMaxTimers (TimerId max)
	Change the maximum number of timers in this object.
bool	startTimer (TimerId timer_id, Seconds period)
	Start a periodic timer which starts first over period seconds and then every period seconds.
bool	arm (TimerId timer_id, Seconds wait_time)
	Arm a timer to fire once over wait_time seconds.
TimeService::Seconds	timeRemaining (TimerId timer_id) const
	Returns the remaining time before this timer elapses.
bool	isArmed (TimerId timer_id) const
	Check if a given timer id is armed.
bool	killTimer (TimerId timer_id)
	Disable an armed timer.
virtual os::ThreadInterface *	getThread () const
	Get the thread this object is run in.
virtual bool	hasWork ()
	This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again).
ActivityInterface *	getActivity () const
	Query for the task this interface is run in.
virtual void	setActivity (ActivityInterface *task)
	Set the task this interface is run in.
Protected Types
typedef TimeService::nsecs	Time
typedef std::vector< std::pair < Time, Time > >	TimerIds
	Index in vector is the timer id.
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.
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.
void	step ()
	The method that will be periodically executed when this class is run in a periodic thread.
void	loop ()
	The method that will be executed once when this class is run in a non periodic thread.
bool	breakLoop ()
	This method is called by the framework to break out of the loop() method.
Protected Attributes
TimeService *	mTimeserv
base::ActivityInterface *	mThread
Semaphore	msem
Mutex	m
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 66 of file Timer.hpp.

Member Typedef Documentation

typedef std::vector<std::pair<Time, Time> > 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 85 of file Timer.hpp.

Constructor & Destructor Documentation

RTT::Timer::Timer	(	TimerId	max_timers,
		int	scheduler = `-1`,
		int	priority = `0`
	)

Create a 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.

Definition at line 123 of file Timer.cpp.

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

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 170 of file Timer.cpp.

References RTT::os::TimeService::getNSecs(), and RTT::os::Semaphore::signal().

bool RTT::Timer::breakLoop ( ) [protected, virtual]

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 116 of file Timer.cpp.

ActivityInterface * RTT::base::RunnableInterface::getActivity ( ) const [inline, inherited]

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 167 of file RunnableInterface.hpp.

Referenced by RTT::base::TaskCore::activate(), 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(), RTT::base::TaskCore::update(), RTT::ExecutionEngine::waitForFunctions(), and RTT::ExecutionEngine::waitForMessages().

os::ThreadInterface * RTT::RunnableInterface::getThread ( ) const [virtual, inherited]

Get the thread this object is run in.

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

Definition at line 78 of file CoreRunnableInterface.cpp.

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

bool RTT::RunnableInterface::hasWork ( ) [virtual, inherited]

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 65 of file CoreRunnableInterface.cpp.

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

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 190 of file Timer.cpp.

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 217 of file Timer.cpp.

void RTT::Timer::loop ( ) [protected, virtual]

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

The default implementation calls step() once.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 58 of file Timer.cpp.

References RTT::os::TimeService::InfiniteNSecs.

void RTT::RunnableInterface::setActivity ( ActivityInterface * task ) [virtual, inherited]

Set the task this interface is run in.

A Zero means no task is running it.

Parameters:

task	The ActivityInterface running this interface.

Definition at line 69 of file CoreRunnableInterface.cpp.

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

Referenced by RTT::base::ActivityInterface::run().

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 145 of file Timer.cpp.

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 151 of file Timer.cpp.

References RTT::os::TimeService::getNSecs(), and RTT::os::Semaphore::signal().

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 140 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 201 of file Timer.cpp.

References RTT::os::TimeService::getNSecs().

The documentation for this class was generated from the following files:

rtt/os/Timer.hpp
rtt/os/Timer.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation