This thread is the simulated real-time periodic thread in the Orocos system. More...

#include <rtt/extras/SimulationThread.hpp>

Inheritance diagram for RTT::extras::SimulationThread:

Public Member Functions
virtual	~SimulationThread ()
	Destructor. More...

virtual bool	start ()
	Start the Thread. More...

virtual bool	isRunning () const
	Returns true if thread is running or run( unsigned int ) is being invoked. More...

virtual bool	start (unsigned int maxsteps)
	Only run the simulation maxsteps time steps, then stop the SimulationThread. More...

virtual bool	run (unsigned int maxsteps)
	Execute maxsteps steps immediately. More...

virtual os::ThreadInterface *	simthread ()
	Always returns the MainThread. More...

bool	addActivity (PeriodicActivity *t)
	Add an Timer that will be ticked every execution period Once added, a timer can not be removed. More...

bool	removeActivity (PeriodicActivity *t)

virtual bool	stop ()
	Stop the Thread. More...

void	setStopTimeout (Seconds s)
	Sets the timeout for stop(), in seconds. More...

Seconds	getStopTimeout () const
	Returns the desired timeout for stop(), in seconds. More...

bool	setPeriod (Seconds s)
	Set the periodicity in Seconds. More...

bool	setPeriod (secs s, nsecs ns)
	Set the periodicity of this thread (seconds, nanoseconds) More...

bool	setPeriod (TIME_SPEC p)
	Set the periodicity of this thread. More...

void	getPeriod (secs &s, nsecs &ns) const
	Get the periodicity of this thread (seconds, nanoseconds) More...

virtual Seconds	getPeriod () const
	Get the periodicity in Seconds. More...

virtual nsecs	getPeriodNS () const
	Get the periodicity in nanoseconds. More...

virtual bool	isPeriodic () const

virtual bool	isActive () const
	Returns whether the thread is active. More...

virtual const char *	getName () const
	Read the name of this task. More...

virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer. More...

virtual const RTOS_TASK *	getTask () const
	const version of the above. More...

virtual bool	setScheduler (int sched_type)
	Change the scheduler policy in which this thread runs. More...

virtual int	getScheduler () const
	Get the scheduler policy in which this thread runs. More...

virtual bool	setPriority (int priority)
	Set the priority of this Thread. More...

virtual int	getPriority () const
	The priority of this Thread. More...

virtual unsigned int	getPid () const
	Returns the Process or Thread ID of this thread, as assigned by the Operating System. More...

virtual bool	setCpuAffinity (unsigned cpu_affinity)
	Set cpu affinity for this thread. More...

virtual unsigned	getCpuAffinity () const

virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread. More...

virtual void	setMaxOverrun (int m)

virtual int	getMaxOverrun () const

virtual void	setWaitPeriodPolicy (int p)
	Set the wait policy of a periodic thread. More...

unsigned int	threadNumber () const
	The unique thread number (within the same process). More...

bool	isSelf () const

Static Public Member Functions
static SimulationThreadPtr	Instance (double period=0.001)
	Create the SimulationThread with a given period. More...

static bool	Release ()
	Releases the SimulationThread Reference counting might aid in making this call safe. More...

static TimerThreadPtr	Instance (int priority, double periodicity)
	Create a TimerThread with a given priority and periodicity, using the default scheduler, ORO_SCHED_RT. More...

static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity)
	Create a TimerThread with a given scheduler, priority and periodicity. More...

static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity, unsigned cpu_affinity)
	Create a TimerThread with a given scheduler, priority and periodicity. More...

static void	setStackSize (unsigned int ssize)
	Sets the stack size of the threads to be created. More...

static void	setLockTimeoutNoPeriod (double timeout_in_s)
	Sets the lock timeout for a thread which does not have a period The default is 1 second. More...

static void	setLockTimeoutPeriodFactor (double factor)
	Set the lock timeout for a thread which has a period by a factor of the period The default is factor 10. More...

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. More...

Protected Member Functions
bool	initialize ()

void	step ()

void	finalize ()

	SimulationThread (double period)
	Constructor. More...

void	reorderList ()

void	terminate ()
	Exit and destroy the thread. More...

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(). More...

int	threadnb
	Threads are given an unique number, which follows thread creation order. More...

Static Protected Attributes
static TimerThreadList	TimerThreads
	All timer threads. More...

Detailed Description

This thread is the simulated real-time periodic thread in the Orocos system.

All your activities in the same program must be a SimulationActivity for this to work, since the os::TimeService global time is updated when this thread runs.

By default, the update period is 0.001 seconds. If you want to run with a finer or coarser grained time step, use the Instance() method and supply another period before SimulationActivities are created.

Note: This implementation has lost the capability to run SimulationActivity objects of different periods.

Definition at line 64 of file SimulationThread.hpp.

Member Typedef Documentation

typedef std::vector< boost::weak_ptr<TimerThread> > RTT::extras::TimerThread::TimerThreadList

protectedinherited

A Boost weak pointer is used to store non-owning pointers to shared objects.

Definition at line 140 of file TimerThread.hpp.

Constructor & Destructor Documentation

RTT::SimulationThread::~SimulationThread ( )

virtual

Destructor.

Definition at line 98 of file SimulationThread.cpp.

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

RTT::SimulationThread::SimulationThread ( double period )

protected

Constructor.

Definition at line 86 of file SimulationThread.cpp.

References RTT::Logger::endl(), RTT::os::Thread::getName(), RTT::os::Thread::getPeriod(), RTT::os::Thread::getPriority(), RTT::Logger::Info, RTT::Logger::log(), ORO_SCHED_OTHER, and RTT::os::Thread::setScheduler().

Member Function Documentation

bool RTT::TimerThread::addActivity ( PeriodicActivity * t )

inherited

Add an Timer that will be ticked every execution period Once added, a timer can not be removed.

Definition at line 113 of file TimerThread.cpp.

References RTT::extras::TimerThread::MAX_ACTIVITIES, and RTT::extras::TimerThread::mutex.

bool RTT::os::Thread::breakLoop ( )

protectedvirtualinherited

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 521 of file Thread.cpp.

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

void RTT::os::Thread::emergencyStop ( )

protectedinherited

Definition at line 226 of file Thread.cpp.

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

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

void RTT::SimulationThread::finalize ( )

protectedvirtual

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

Reimplemented from RTT::extras::TimerThread.

Definition at line 155 of file SimulationThread.cpp.

References RTT::os::TimeService::enableSystemClock(), RTT::Logger::endl(), RTT::Logger::Info, and RTT::Logger::log().

Referenced by run().

unsigned RTT::os::Thread::getCpuAffinity ( ) const

virtualinherited

Returns: the cpu affinity (

See also: rtos_task_set_cpu_affinity)

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 606 of file Thread.cpp.

References RTT::os::rtos_task_get_cpu_affinity().

Referenced by RTT::Activity::getCpuAffinity(), and RTT::os::Thread::Thread().

int RTT::os::Thread::getMaxOverrun ( ) const

virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 642 of file Thread.cpp.

const char * RTT::os::Thread::getName ( ) const

virtualinherited

Read the name of this task.

Implements RTT::os::ThreadInterface.

Definition at line 632 of file Thread.cpp.

References RTT::os::rtos_task_get_name().

Referenced by RTT::corba::CorbaDispatcher::initialize(), SimulationThread(), RTT::os::Thread::stop(), RTT::os::Thread::Thread(), RTT::os::thread_function(), and RTT::os::Thread::~Thread().

void RTT::os::Thread::getPeriod	(	secs &	s,
		nsecs &	ns
	)		const

inherited

Get the periodicity of this thread (seconds, nanoseconds)

Definition at line 570 of file Thread.cpp.

double RTT::os::Thread::getPeriod ( ) const

virtualinherited

Get the periodicity in Seconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, and RTT::Activity.

Definition at line 591 of file Thread.cpp.

References RTT::nsecs_to_Seconds().

Referenced by RTT::Activity::getPeriod(), RTT::os::Thread::getStopTimeout(), run(), SimulationThread(), step(), and RTT::os::Thread::Thread().

nsecs RTT::os::Thread::getPeriodNS ( ) const

virtualinherited

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 596 of file Thread.cpp.

unsigned int RTT::os::Thread::getPid ( ) const

virtualinherited

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 611 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

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

int RTT::os::Thread::getPriority ( ) const

virtualinherited

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 586 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

Referenced by SimulationThread(), and RTT::os::Thread::Thread().

int RTT::os::Thread::getScheduler ( ) const

virtualinherited

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 488 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler(), RTT::os::rtos_task_set_period(), and RTT::os::rtos_task_set_scheduler().

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

Seconds RTT::os::Thread::getStopTimeout ( ) const

inherited

Returns the desired timeout for stop(), in seconds.

If not set with setStopTimeout, the timeout is deduced from the global values lock_timeout_period_factor and lock_timeout_no_period_in_s

Definition at line 408 of file Thread.cpp.

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

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

virtual RTOS_TASK* RTT::os::Thread::getTask ( )

inlinevirtualinherited

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 205 of file Thread.hpp.

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

virtual const RTOS_TASK* RTT::os::Thread::getTask ( ) const

inlinevirtualinherited

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 210 of file Thread.hpp.

bool RTT::SimulationThread::initialize ( )

protectedvirtual

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

Reimplemented from RTT::extras::TimerThread.

Definition at line 141 of file SimulationThread.cpp.

References RTT::os::TimeService::enableSystemClock(), RTT::Logger::endl(), RTT::Logger::Info, RTT::Logger::log(), and RTT::Logger::nl().

Referenced by run().

SimulationThreadPtr RTT::SimulationThread::Instance ( double period = 0.001 )

static

Create the SimulationThread with a given period.

Only one SimulationThread can be created.

Parameters

period The period in seconds at which the simulation takes steps and updates the TimeService. Only the first invocation of Instance will consider this parameter. The others will ignore it.

Definition at line 69 of file SimulationThread.cpp.

Referenced by RTT::extras::SimulationActivity::thread().

TimerThreadPtr RTT::TimerThread::Instance	(	int	priority,
		double	periodicity
	)

staticinherited

Create a TimerThread with a given priority and periodicity, using the default scheduler, ORO_SCHED_RT.

Definition at line 57 of file TimerThread.cpp.

References ORO_SCHED_RT.

TimerThreadPtr RTT::TimerThread::Instance	(	int	scheduler,
		int	priority,
		double	periodicity
	)

staticinherited

Create a TimerThread with a given scheduler, priority and periodicity.

Definition at line 62 of file TimerThread.cpp.

TimerThreadPtr RTT::TimerThread::Instance	(	int	scheduler,
		int	priority,
		double	periodicity,
		unsigned	cpu_affinity
	)

staticinherited

Create a TimerThread with a given scheduler, priority and periodicity.

Definition at line 67 of file TimerThread.cpp.

References RTT::os::CheckPriority(), RTT::os::ThreadInterface::getCpuAffinity(), RTT::os::MainThread::Instance(), and RTT::Seconds_to_nsecs().

bool RTT::os::Thread::isActive ( ) const

virtualinherited

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 464 of file Thread.cpp.

Referenced by RTT::Activity::isActive(), RTT::os::Thread::start(), and RTT::Activity::trigger().

bool RTT::os::Thread::isPeriodic ( ) const

virtualinherited

Reimplemented in RTT::Activity.

Definition at line 581 of file Thread.cpp.

Referenced by RTT::Activity::isPeriodic().

bool RTT::SimulationThread::isRunning ( ) const

virtual

Returns true if thread is running or run( unsigned int ) is being invoked.

Reimplemented from RTT::os::Thread.

Definition at line 103 of file SimulationThread.cpp.

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

Referenced by run().

bool ThreadInterface::isSelf ( ) const

inherited

Definition at line 58 of file ThreadInterface.cpp.

References RTT::os::ThreadInterface::getTask(), and RTT::os::rtos_task_is_self().

void RTT::os::Thread::loop ( )

protectedvirtualinherited

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 516 of file Thread.cpp.

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

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

bool RTT::SimulationThread::Release ( )

static

Releases the SimulationThread Reference counting might aid in making this call safe.

Returns: true on success, false on failure

Definition at line 79 of file SimulationThread.cpp.

bool RTT::TimerThread::removeActivity ( PeriodicActivity * t )

inherited

Definition at line 124 of file TimerThread.cpp.

References RTT::extras::TimerThread::mutex.

void RTT::TimerThread::reorderList ( )

protectedinherited

Definition at line 163 of file TimerThread.cpp.

Referenced by RTT::extras::TimerThread::finalize(), and RTT::extras::TimerThread::step().

bool RTT::SimulationThread::run ( unsigned int maxsteps )

virtual

Execute maxsteps steps immediately.

This function will call the step() functions maxsteps times, without requiring start() or stop() to be called before or after. The thread is thus not used.

Returns: false if maxsteps == 0

Postcondition: When run() returns, step() has been called maxsteps times.

Definition at line 122 of file SimulationThread.cpp.

References finalize(), RTT::os::Thread::getPeriod(), initialize(), isRunning(), RTT::os::TimeService::secondsChange(), and RTT::extras::TimerThread::step().

bool RTT::os::Thread::setCpuAffinity ( unsigned cpu_affinity )

virtualinherited

Set cpu affinity for this thread.

Parameters

cpu_affinity 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 601 of file Thread.cpp.

References RTT::os::rtos_task_set_cpu_affinity().

Referenced by RTT::Activity::setCpuAffinity().

void RTT::os::Thread::setLockTimeoutNoPeriod ( double timeout_in_s )

staticinherited

Sets the lock timeout for a thread which does not have a period The default is 1 second.

Parameters

timeout_in_s the timeout is seconds

Definition at line 71 of file Thread.cpp.

void RTT::os::Thread::setLockTimeoutPeriodFactor ( double factor )

staticinherited

Set the lock timeout for a thread which has a period by a factor of the period The default is factor 10.

Parameters

factor Factor of the period

Definition at line 73 of file Thread.cpp.

void RTT::os::Thread::setMaxOverrun ( int m )

virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 637 of file Thread.cpp.

bool RTT::os::Thread::setPeriod ( Seconds new_period )

virtualinherited

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.

Definition at line 536 of file Thread.cpp.

References RTT::Seconds_to_nsecs().

Referenced by RTT::Activity::setPeriod(), and RTT::os::Thread::setPeriod().

bool RTT::os::Thread::setPeriod	(	secs	s,
		nsecs	ns
	)

inherited

Set the periodicity of this thread (seconds, nanoseconds)

Definition at line 542 of file Thread.cpp.

References rtos_sem_signal(), and RTT::os::rtos_task_make_periodic().

bool RTT::os::Thread::setPeriod ( TIME_SPEC p )

inherited

Set the periodicity of this thread.

Definition at line 565 of file Thread.cpp.

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

bool RTT::os::Thread::setPriority ( int priority )

virtualinherited

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 576 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::setScheduler ( int sched_type )

virtualinherited

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.