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. More...

	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. More...

virtual	~TimerThread ()
	Destructor. 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	start ()
	Start the Thread. More...

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	isRunning () const
	Returns whether the thread is running. More...

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 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
virtual bool	initialize ()

virtual void	step ()

virtual void	finalize ()

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 Periodic Thread is meant for executing a PeriodicActivity object periodically.

See also: PeriodicActivity

Definition at line 69 of file TimerThread.hpp.

Member Typedef Documentation

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

protected

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::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 95 of file TimerThread.cpp.

References MAX_ACTIVITIES.

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 101 of file TimerThread.cpp.

References MAX_ACTIVITIES.

RTT::TimerThread::~TimerThread ( )

virtual

Destructor.

Definition at line 107 of file TimerThread.cpp.

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

Member Function Documentation

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

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 MAX_ACTIVITIES, and 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::TimerThread::finalize ( )

protectedvirtual

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 140 of file TimerThread.cpp.

References mutex, and reorderList().

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(), RTT::extras::SimulationThread::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(), RTT::extras::SimulationThread::run(), RTT::extras::SimulationThread::SimulationThread(), RTT::extras::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 RTT::extras::SimulationThread::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::TimerThread::initialize ( )

protectedvirtual

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 136 of file TimerThread.cpp.

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

static

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
	)

static

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
	)

static

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::os::Thread::isRunning ( ) const

virtualinherited

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::extras::FileDescriptorActivity, RTT::Activity, and RTT::extras::SimulationThread.

Definition at line 459 of file Thread.cpp.

Referenced by RTT::extras::SimulationThread::isRunning(), RTT::Activity::isRunning(), and RTT::os::Thread::~Thread().

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::TimerThread::removeActivity ( PeriodicActivity * t )

Definition at line 124 of file TimerThread.cpp.

References mutex.

void RTT::TimerThread::reorderList ( )

protected

Definition at line 163 of file TimerThread.cpp.

Referenced by finalize(), and 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.