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

#include <rtt/extras/TimerThread.hpp>

Inheritance diagram for RTT::extras::TimerThread:

Public Member Functions
	TimerThread (int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)
	Create a periodic Timer thread.
	TimerThread (int scheduler, int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)
	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	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)
	Set the periodicity of this thread (seconds, nanoseconds)
bool	setPeriod (TIME_SPEC p)
	Set the periodicity of this thread.
void	getPeriod (secs &s, nsecs &ns) const
	Get the periodicity of this thread (seconds, nanoseconds)
virtual Seconds	getPeriod () const
	Get the periodicity in Seconds.
virtual nsecs	getPeriodNS () const
	Get the periodicity in nanoseconds.
virtual bool	isPeriodic () const
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 const RTOS_TASK *	getTask () const
	const version of the above.
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 unsigned int	getPid () const
	Returns the Process or Thread ID of this thread, as assigned by the Operating System.
virtual bool	setCpuAffinity (unsigned cpu_affinity)
	Set cpu affinity for this thread The cpu affinity of the thread (.
virtual unsigned	getCpuAffinity () const
virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread.
virtual void	setMaxOverrun (int m)
virtual int	getMaxOverrun () const
virtual void	setWaitPeriodPolicy (int p)
	Set the wait policy of a periodic thread.
unsigned int	threadNumber () const
	The unique thread number (within the same process).
bool	isSelf () const
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 TimerThreadPtr	Instance (int scheduler, int priority, double periodicity, unsigned cpu_affinity)
	Create a TimerThread with a given scheduler, priority and periodicity.
static void	setStackSize (unsigned int ssize)
	Sets the stack size of the threads to be created.
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 ()
void	terminate ()
	Exit and destroy the thread.
void	emergencyStop ()
virtual void	loop ()
virtual bool	breakLoop ()
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 69 of file TimerThread.hpp.

Constructor & Destructor Documentation

RTT::TimerThread::TimerThread	(	int	priority,
		const std::string &	name,
		double	periodicity,
		unsigned	cpu_affinity = `~0`
	)

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 )

Definition at line 90 of file TimerThread.cpp.

RTT::TimerThread::TimerThread	(	int	scheduler,
		int	priority,
		const std::string &	name,
		double	periodicity,
		unsigned	cpu_affinity = `~0`
	)

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 )

Definition at line 96 of file TimerThread.cpp.

Member Function Documentation

bool RTT::os::Thread::breakLoop ( ) [protected, virtual, inherited]

See also:: base::RunnableInterface::breakLoop()

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::mqueue::Dispatcher, RTT::Activity, and RTT::corba::CorbaDispatcher.

Definition at line 508 of file Thread.cpp.

Referenced by RTT::os::Thread::stop().

void RTT::TimerThread::finalize ( ) [protected, virtual]

See also:: base::RunnableInterface::finalize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 135 of file TimerThread.cpp.

References mutex.

unsigned RTT::os::Thread::getCpuAffinity ( ) const [virtual, inherited]

Returns:: the cpu affinity (

See also:: rtos_task_set_cpu_affinity)

Reimplemented in RTT::Activity.

Definition at line 593 of file Thread.cpp.

References RTT::os::rtos_task_get_cpu_affinity().

double RTT::os::Thread::getPeriod ( ) const [virtual, inherited]

Get the periodicity in Seconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 578 of file Thread.cpp.

Referenced by RTT::extras::SimulationThread::run(), RTT::extras::SimulationThread::SimulationThread(), RTT::extras::SimulationThread::step(), and RTT::os::Thread::stop().

nsecs RTT::os::Thread::getPeriodNS ( ) const [virtual, inherited]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 583 of file Thread.cpp.

unsigned int RTT::os::Thread::getPid ( ) const [virtual, inherited]

Returns the Process or Thread ID of this thread, as assigned by the Operating System.

This function tries to return the Thread ID, if the OS supports it, otherwise it returns the process ID. If that is not available either, zero is returned. On Linux systems for example, the Thread ID of the main thread is equal to the Process ID. The Thread ID of every newly created thread is different from the Process ID (and unique).

Implements RTT::os::ThreadInterface.

Definition at line 598 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

int RTT::os::Thread::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.

Definition at line 573 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

Referenced by RTT::extras::SimulationThread::SimulationThread().

int RTT::os::Thread::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.

Definition at line 475 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler().

Referenced by RTT::os::Thread::setScheduler().

virtual RTOS_TASK* RTT::os::Thread::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 174 of file Thread.hpp.

Referenced by RTT::os::thread_function().

bool RTT::TimerThread::initialize ( ) [protected, virtual]

See also:: base::RunnableInterface::initialize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 131 of file TimerThread.cpp.

bool RTT::os::Thread::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.

Reimplemented in RTT::Activity.

Definition at line 451 of file Thread.cpp.

Referenced by RTT::os::Thread::start().

bool RTT::os::Thread::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::Activity, RTT::extras::FileDescriptorActivity, and RTT::extras::SimulationThread.

Definition at line 446 of file Thread.cpp.

void RTT::os::Thread::loop ( ) [protected, virtual, inherited]

See also:: base::RunnableInterface::loop()

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 503 of file Thread.cpp.

References RTT::os::Thread::step().

Referenced by RTT::os::thread_function().

bool RTT::os::Thread::setCpuAffinity ( unsigned cpu_affinity ) [virtual, inherited]

Set cpu affinity for this thread The cpu affinity of the thread (.

See also:: rtos_task_set_cpu_affinity).

Returns:: true if the mask has been applied

Reimplemented in RTT::Activity.

Definition at line 588 of file Thread.cpp.

References RTT::os::rtos_task_set_cpu_affinity().

bool RTT::os::Thread::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.

Reimplemented in RTT::Activity.

Definition at line 523 of file Thread.cpp.

Referenced by RTT::os::Thread::setPeriod().

bool RTT::os::Thread::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.

Definition at line 563 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::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.