A class which represents the main() thread. More...

#include <rtt/os/MainThread.hpp>

Inheritance diagram for RTT::os::MainThread:

Public Member Functions
virtual bool	start ()
	Always fails.
virtual bool	stop ()
	Always fails.
virtual Seconds	getPeriod () const
	Returns zero.
virtual bool	setPeriod (Seconds period)
	Returns always false.
virtual nsecs	getPeriodNS () const
	Returns zero.
virtual bool	isRunning () const
	Returns always true.
virtual bool	isActive () const
	Returns always true.
virtual const char *	getName () const
	Returns "main".
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 void	setMaxOverrun (int m)
virtual int	getMaxOverrun () const
virtual void	setWaitPeriodPolicy (int p)
	Set the wait policy of a periodic thread.
virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread.
unsigned int	threadNumber () const
	Returns zero, the number of the main() thread.
bool	isSelf () const
Static Public Member Functions
static ThreadInterface *	Instance ()
	Return an object which represents the main thread.
static void	Release ()
	This is called to cleanup the main thread.
Protected Attributes
int	threadnb
	Threads are given an unique number, which follows thread creation order.

Detailed Description

A class which represents the main() thread.

Definition at line 52 of file MainThread.hpp.

Member Function Documentation

unsigned int RTT::os::MainThread::getPid ( ) const [virtual]

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 109 of file MainThread.cpp.

References RTT::os::rtos_task_get_pid().

int RTT::os::MainThread::getPriority ( ) const [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

Implements RTT::os::ThreadInterface.

Definition at line 104 of file MainThread.cpp.

References RTT::os::rtos_task_get_priority().

int RTT::os::MainThread::getScheduler ( ) const [virtual]

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 94 of file MainThread.cpp.

References RTT::os::rtos_task_get_scheduler().

RTOS_TASK * RTT::os::MainThread::getTask ( ) [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.

Implements RTT::os::ThreadInterface.

Definition at line 84 of file MainThread.cpp.

ThreadInterface * RTT::os::MainThread::Instance ( ) [static]

Return an object which represents the main thread.

Only after this call, OS calls may be done.

Definition at line 58 of file MainThread.cpp.

Referenced by __os_init(), RTT::extras::SequentialActivity::thread(), and RTT::extras::SlaveActivity::thread().

void RTT::os::MainThread::Release ( ) [static]

This is called to cleanup the main thread.

After this call, no OS calls may be done.

Definition at line 66 of file MainThread.cpp.

Referenced by __os_exit().

bool RTT::os::MainThread::setPriority ( int priority ) [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

Implements RTT::os::ThreadInterface.

Definition at line 99 of file MainThread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::MainThread::setScheduler ( int sched_type ) [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.