Orocos Real-Time Toolkit  2.9.0
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
RTT::Activity Class Reference

An Activity executes a RunnableInterface object in a (periodic) thread. More...

#include <rtt/Activity.hpp>

Inheritance diagram for RTT::Activity:
RTT::base::ActivityInterface RTT::os::Thread RTT::os::ThreadInterface RTT::corba::CorbaDispatcher RTT::corba::OrbRunner RTT::extras::FileDescriptorActivity RTT::extras::IRQActivity RTT::mqueue::Dispatcher

Public Types

typedef boost::shared_ptr< ActivityInterfaceshared_ptr
 

Public Member Functions

 Activity (base::RunnableInterface *r=0, const std::string &name="Activity")
 Create a not real-time Activity. More...
 
 Activity (int priority, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create a real-time Activity with a given priority. More...
 
 Activity (int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create a real-time Activity with a given priority and period. More...
 
 Activity (int scheduler, int priority, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create an Activity with a given scheduler type and priority. More...
 
 Activity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create an Activity with a given scheduler type, priority and period. More...
 
 Activity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create an Activity with a given scheduler type, priority, period and cpu affinity. More...
 
virtual ~Activity ()
 Stops and terminates a Activity. More...
 
virtual bool start ()
 Start the activity. More...
 
virtual bool execute ()
 Execute this activity such that it executes a step or loop of the RunnableInterface. More...
 
virtual bool trigger ()
 Trigger that work has to be done. More...
 
virtual bool timeout ()
 Requests this Activity to wakeup and call step() + work(Timeout). More...
 
virtual bool stop ()
 Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop(). More...
 
virtual bool isRunning () const
 Query if the activity is initialized and executing. More...
 
virtual bool isActive () const
 Query if the activity is started. More...
 
virtual bool isPeriodic () const
 Inspect if this activity is periodic. More...
 
virtual Seconds getPeriod () const
 Get the periodicity of this activity in Seconds. More...
 
virtual bool setPeriod (Seconds period)
 Set the periodicity of this activity in Seconds. More...
 
virtual unsigned getCpuAffinity () const
 Get the cpu affinity of this activity. More...
 
virtual bool setCpuAffinity (unsigned cpu)
 Set the cpu affinity of this activity. More...
 
void setWaitPeriodPolicy (int p)
 Set the wait policy of a periodic thread. More...
 
virtual os::ThreadInterfacethread ()
 Returns a pointer to the thread which will run this activity. More...
 
virtual bool initialize ()
 
virtual void step ()
 
virtual void loop ()
 
virtual void work (base::RunnableInterface::WorkReason reason)
 
virtual bool breakLoop ()
 
virtual void finalize ()
 
virtual bool run (RunnableInterface *r)
 Run exclusively this RunnableInterface. More...
 
virtual RunnableInterfacegetRunner () const
 Returns a pointer to the RunnableInterface instance. 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 (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 nsecs getPeriodNS () const
 Get the periodicity in nanoseconds. More...
 
virtual const char * getName () const
 Read the name of this task. More...
 
virtual RTOS_TASKgetTask ()
 Get the RTOS_TASK pointer. More...
 
virtual const RTOS_TASKgetTask () 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 void yield ()
 Yields (put to the back of the scheduler queue) the calling thread. More...
 
virtual void setMaxOverrun (int m)
 
virtual int getMaxOverrun () const
 
unsigned int threadNumber () const
 The unique thread number (within the same process). More...
 
bool isSelf () const
 

Static Public Member Functions

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...
 

Protected Member Functions

void disableRun (RunnableInterface *caller)
 This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used. More...
 
void terminate ()
 Exit and destroy the thread. More...
 
void emergencyStop ()
 

Protected Attributes

os::Mutex msg_lock
 
os::Condition msg_cond
 
double update_period
 The period at which the Activity steps(). More...
 
bool mtimeout
 When set to true, a next cycle will be a TimeOut cycle. More...
 
bool mstopRequested
 
int mwaitpolicy
 
RunnableInterfacerunner
 
int msched_type
 Desired scheduler type. More...
 
bool active
 When set to 1, the thread will run, when set to 0 the thread will stop ( isActive() ) More...
 
bool prepareForExit
 Signal the thread that it should exit. More...
 
bool inloop
 Is true when in the loop (isRunning() ) More...
 
bool running
 Indicates if step() or loop() should be executed. More...
 
RTOS_TASK rtos_task
 The realtime task structure created by this object. More...
 
rt_sem_t sem
 The semaphore used for starting the thread. More...
 
MutexRecursive breaker
 Used to implement synchronising breakLoop(). More...
 
int maxOverRun
 The maximum times a periodic overrun may happen, or -1 if unlimited. More...
 
NANO_TIME period
 The period as it is passed to the operating system. More...
 
double stopTimeout
 The timeout, in seconds, for stop() More...
 
int threadnb
 Threads are given an unique number, which follows thread creation order. More...
 

Static Protected Attributes

static unsigned int default_stack_size = 0
 
static double lock_timeout_no_period_in_s = 1.0
 configuration of the lock timeout in seconds More...
 
static double lock_timeout_period_factor = 10.0
 configuration of the lock timeout for periodic tasks in seconds More...
 

Detailed Description

An Activity executes a RunnableInterface object in a (periodic) thread.

This object implements the base::ActivityInterface and maps that to an OS thread, using the RTT::os::Thread class. One Activity object maps to one OS thread. It can execute periodically the step() function or the loop() function in case of non-periodic execution.

When provided one, it will execute a base::RunnableInterface object, or the equivalent methods in it's own interface when none is given.

For a periodic Activity, when it misses its deadline because user code take too long to execute, it will skip the required number of periodic execution steps in order to be back on time. This is the ORO_WAIT_REL wait policy and can be changed by calling setWaitPeriodPolicy(ORO_WAIT_ABS)

Definition at line 70 of file Activity.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<ActivityInterface> RTT::base::ActivityInterface::shared_ptr
inherited

Constructor & Destructor Documentation

RTT::Activity::Activity ( base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create a not real-time Activity.

This creates a not real-time, non-periodic thread, with priority equal to RTT::os::LowestPriority.

Parameters
_rThe optional runner, if null, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 56 of file Activity.cpp.

RTT::Activity::Activity ( int  priority,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create a real-time Activity with a given priority.

The thread is run in the ORO_SCHED_RT scheduler.

Parameters
priorityThe priority of this activity.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 62 of file Activity.cpp.

RTT::Activity::Activity ( int  priority,
Seconds  period,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create a real-time Activity with a given priority and period.

The thread is run in the ORO_SCHED_RT scheduler.

Parameters
priorityThe priority of this activity.
periodThe periodicity of the Activity. A zero is interpreted as non periodic.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 68 of file Activity.cpp.

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

RTT::Activity::Activity ( int  scheduler,
int  priority,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create an Activity with a given scheduler type and priority.

Parameters
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 78 of file Activity.cpp.

RTT::Activity::Activity ( int  scheduler,
int  priority,
Seconds  period,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create an Activity with a given scheduler type, priority and period.

Parameters
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
periodThe periodicity of the Activity
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 84 of file Activity.cpp.

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

RTT::Activity::Activity ( int  scheduler,
int  priority,
Seconds  period,
unsigned  cpu_affinity,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create an Activity with a given scheduler type, priority, period and cpu affinity.

Parameters
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
periodThe periodicity of the Activity
cpu_affinityThe prefered cpu to run on (a mask)
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 94 of file Activity.cpp.

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

RTT::Activity::~Activity ( )
virtual

Stops and terminates a Activity.

Definition at line 104 of file Activity.cpp.

References stop(), and RTT::os::Thread::terminate().

Member Function Documentation

bool RTT::Activity::breakLoop ( )
virtual
void RTT::base::ActivityInterface::disableRun ( RunnableInterface caller)
inlineprotectedinherited

This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used.

run(0) can not be used in this case because it would recurse.

Definition at line 73 of file ActivityInterface.hpp.

Referenced by RTT::base::RunnableInterface::setActivity(), and RTT::base::RunnableInterface::~RunnableInterface().

void RTT::os::Thread::emergencyStop ( )
protectedinherited
bool RTT::Activity::execute ( )
virtual

Execute this activity such that it executes a step or loop of the RunnableInterface.

When you invoke execute() you intend to call the step() or loop() methods. Some activity implementations allow a user controlled execute, others ignore it, in which case execute() returns false.

Semantics: If execute() returns true, the activity has been executed exactly once during execute().

Return values
trueWhen this->isActive() and the implementation allows external executes.
falseWhen !this->isActive() or the implementation does not allow external updating.
See also
trigger() for use in callbacks which want execute() to be executed.

Implements RTT::base::ActivityInterface.

Definition at line 155 of file Activity.cpp.

void RTT::Activity::finalize ( )
virtual
See also
base::RunnableInterface::finalize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner.

Definition at line 267 of file Activity.cpp.

References RTT::base::RunnableInterface::finalize(), and RTT::base::ActivityInterface::runner.

Referenced by stop().

unsigned RTT::Activity::getCpuAffinity ( ) const
virtual

Get the cpu affinity of this activity.

Returns
The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 338 of file Activity.cpp.

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

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

Implements RTT::os::ThreadInterface.

Definition at line 643 of file Thread.cpp.

References RTT::os::Thread::maxOverRun.

const char * RTT::os::Thread::getName ( ) const
virtualinherited
Seconds RTT::Activity::getPeriod ( ) const
virtual

Get the periodicity of this activity in Seconds.

Returns
The execution period of this activity (zero if !this->isPeriodic() ).

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 142 of file Activity.cpp.

References update_period.

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.

References RTT::os::Thread::period.

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.

References RTT::os::Thread::period.

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::Thread::rtos_task, and 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::Thread::rtos_task, and RTT::os::rtos_task_get_priority().

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

RunnableInterface * ActivityInterface::getRunner ( ) const
virtualinherited

Returns a pointer to the RunnableInterface instance.

Definition at line 70 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::runner.

Referenced by RTT::ExecutionEngine::setActivity().

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::Thread::msched_type, RTT::os::Thread::period, RTT::os::Thread::rtos_task, 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(), RTT::os::Thread::lock_timeout_no_period_in_s, RTT::os::Thread::lock_timeout_period_factor, RTT::os::Thread::period, and RTT::os::Thread::stopTimeout.

Referenced by RTT::os::Thread::stop(), and 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 loop(), and 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::Activity::initialize ( )
virtual
bool RTT::Activity::isActive ( ) const
virtual

Query if the activity is started.

This is less strict than isRunning(), it is true during initialize(), step() or loop() and finalize(). Use this method to check if an activity was start()ed.

Returns
true if it is active, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 330 of file Activity.cpp.

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

Referenced by RTT::extras::FileDescriptorActivity::start(), and RTT::extras::FileDescriptorActivity::trigger().

bool RTT::Activity::isPeriodic ( ) const
virtual

Inspect if this activity is periodic.

If so, it will call RunnableInterface::step(). If the activity is not periodic, it will call RunnableInterface::loop().

Returns
true if periodic.

Implements RTT::base::ActivityInterface.

Definition at line 334 of file Activity.cpp.

References RTT::os::Thread::isPeriodic(), and update_period.

bool RTT::Activity::isRunning ( ) const
virtual

Query if the activity is initialized and executing.

This is more strict than isActive(), it is only true after initialize() is executed and before finalize() is executed. More-over, an Activity may decide to be temporarily not running (not executing code), waiting for a signal to proceed. If this->isActive() and !this->isRunning() then the Activity is in a waiting state.

Returns
true if it is running, false otherwise

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 326 of file Activity.cpp.

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

Referenced by RTT::extras::FileDescriptorActivity::isRunning().

bool ThreadInterface::isSelf ( ) const
inherited
void RTT::Activity::loop ( )
virtual
bool ActivityInterface::run ( RunnableInterface r)
virtualinherited

Run exclusively this RunnableInterface.

Precondition
this->isRunning() == false
Parameters
rThe RunnableInterface to run exclusively.
Returns
true if succeeded, false otherwise

Definition at line 57 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::isActive(), RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::setActivity().

Referenced by RTT::TaskContext::setActivity().

bool RTT::Activity::setCpuAffinity ( unsigned  cpu)
virtual

Set the cpu affinity of this activity.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Definition at line 343 of file Activity.cpp.

References RTT::os::Thread::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_sthe timeout is seconds

Definition at line 71 of file Thread.cpp.

References RTT::os::Thread::lock_timeout_no_period_in_s.

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
factorFactor of the period

Definition at line 73 of file Thread.cpp.

References RTT::os::Thread::lock_timeout_period_factor.

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

Implements RTT::os::ThreadInterface.

Definition at line 638 of file Thread.cpp.

References RTT::os::Thread::maxOverRun.

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 RTT::os::Thread::period, rtos_sem_signal(), RTT::os::Thread::rtos_task, RTT::os::rtos_task_make_periodic(), and RTT::os::Thread::sem.

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::Activity::setPeriod ( Seconds  s)
virtual

Set the periodicity of this activity in Seconds.

Note that not all activity implementation support periods. A period of s == 0 indicates non periodic. A non supported setting returns false.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 133 of file Activity.cpp.

References trigger(), and update_period.

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

Set the priority of this Thread.

Parameters
priorityThe 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::Thread::rtos_task, and 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_typeAn 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.

Returns
true if the change could be made.

Implements RTT::os::ThreadInterface.

Definition at line 469 of file Thread.cpp.

References RTT::os::CheckScheduler(), RTT::os::Thread::getScheduler(), RTT::Info, RTT::os::Thread::msched_type, rtos_sem_signal(), RTT::os::Thread::rtos_task, RTT::os::rtos_task_get_name(), RTT::os::rtos_task_set_scheduler(), and RTT::os::Thread::sem.

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

void RTT::os::Thread::setStackSize ( unsigned int  ssize)
staticinherited

Sets the stack size of the threads to be created.

This value is suggestive and may be altered or ignored by your operating system. Use zero to use the system's default.

Parameters
ssizethe size of the stack in bytes

Definition at line 69 of file Thread.cpp.

References RTT::os::Thread::default_stack_size.

void RTT::os::Thread::setStopTimeout ( Seconds  s)
inherited

Sets the timeout for stop(), in seconds.

See also
getStopTimeout

Definition at line 403 of file Thread.cpp.

References RTT::os::Thread::stopTimeout.

void RTT::Activity::setWaitPeriodPolicy ( int  p)
virtual

Set the wait policy of a periodic thread.

Parameters
Thewait policy can be ORO_WAIT_ABS (absolute wait) and ORO_WAIT_REL (relative wait, with respect to current time)

Reimplemented from RTT::os::Thread.

Definition at line 348 of file Activity.cpp.

References mwaitpolicy.

bool RTT::Activity::start ( )
virtual

Start the activity.

This will call RunnableInterface::initialize() and upon success, effectively start the activity, by running the RunnableInterface::step() or RunnableInterface::loop() in a thread.

See also
isPeriodic()
Returns
true if the activity is started, false otherwise

Implements RTT::base::ActivityInterface.

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

Definition at line 273 of file Activity.cpp.

References mstopRequested, and RTT::os::Thread::start().

Referenced by RTT::mqueue::Dispatcher::Instance(), RTT::extras::IRQActivity::start(), and RTT::extras::FileDescriptorActivity::start().

void RTT::Activity::step ( )
virtual
bool RTT::Activity::stop ( )
virtual
void RTT::os::Thread::terminate ( )
protectedinherited

Exit and destroy the thread.

Precondition
this is only called from within the destructor.
Postcondition
the thread does no longer exist.

Definition at line 621 of file Thread.cpp.

References RTT::os::Thread::active, RTT::os::Thread::prepareForExit, rtos_sem_signal(), RTT::os::Thread::rtos_task, RTT::os::rtos_task_delete(), and RTT::os::Thread::sem.

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

os::ThreadInterface * RTT::Activity::thread ( )
virtual

Returns a pointer to the thread which will run this activity.

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 113 of file Activity.cpp.

unsigned int RTT::os::ThreadInterface::threadNumber ( ) const
inlineinherited

The unique thread number (within the same process).

Definition at line 217 of file ThreadInterface.hpp.

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

bool RTT::Activity::timeout ( )
virtual

Requests this Activity to wakeup and call step() + work(Timeout).

Will be ignored for periodic activities, since they use an internal timing mechanism, but can be used for non-periodic activities which want to emulate a timeout happening towards the base::RunnableInterface.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 160 of file Activity.cpp.

References RTT::os::Condition::broadcast(), msg_cond, mtimeout, RTT::os::Thread::start(), and update_period.

bool RTT::Activity::trigger ( )
virtual

Trigger that work has to be done.

When you invoke trigger(), you intend to notify the mechanism that calls execute(), that execute() should be called. This allows a separation between actually executing code (execute()) and notifying that code must be executed (trigger()). A trigger may be ignored by the implementation, in which case trigger returns false.

Semantics: If trigger() returns true, the activity will be executed at least once from the moment trigger() is called.

Requests this Activity to wakeup and call step() + work(Trigger). If the thread is periodic, it will continue sleeping for the remainder of the time after the work() has finished.

Return values
trueWhen this->isActive() and the implementation allows external triggers.
falseWhen !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 146 of file Activity.cpp.

References RTT::os::Condition::broadcast(), RTT::os::Thread::isActive(), msg_cond, and RTT::os::Thread::start().

Referenced by RTT::corba::CorbaDispatcher::dispatchChannel(), and setPeriod().

void RTT::Activity::work ( base::RunnableInterface::WorkReason  reason)
virtual
void RTT::os::Thread::yield ( )
virtualinherited

Yields (put to the back of the scheduler queue) the calling thread.

Implements RTT::os::ThreadInterface.

Definition at line 616 of file Thread.cpp.

References RTT::os::Thread::rtos_task, and RTT::os::rtos_task_yield().

Member Data Documentation

bool RTT::os::Thread::active
protectedinherited

When set to 1, the thread will run, when set to 0 the thread will stop ( isActive() )

Definition at line 311 of file Thread.hpp.

Referenced by RTT::os::Thread::emergencyStop(), RTT::os::Thread::isActive(), RTT::os::Thread::start(), RTT::os::Thread::stop(), stop(), RTT::os::Thread::terminate(), and RTT::os::thread_function().

MutexRecursive RTT::os::Thread::breaker
protectedinherited

Used to implement synchronising breakLoop().

Definition at line 341 of file Thread.hpp.

Referenced by RTT::os::Thread::stop(), stop(), RTT::os::Thread::Thread(), and RTT::os::thread_function().

unsigned int RTT::os::Thread::default_stack_size = 0
staticprotectedinherited

Definition at line 290 of file Thread.hpp.

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

bool RTT::os::Thread::inloop
protectedinherited

Is true when in the loop (isRunning() )

Definition at line 321 of file Thread.hpp.

Referenced by RTT::os::Thread::emergencyStop(), RTT::os::Thread::stop(), stop(), and RTT::os::thread_function().

double RTT::os::Thread::lock_timeout_no_period_in_s = 1.0
staticprotectedinherited

configuration of the lock timeout in seconds

Definition at line 295 of file Thread.hpp.

Referenced by RTT::os::Thread::getStopTimeout(), and RTT::os::Thread::setLockTimeoutNoPeriod().

double RTT::os::Thread::lock_timeout_period_factor = 10.0
staticprotectedinherited

configuration of the lock timeout for periodic tasks in seconds

Definition at line 300 of file Thread.hpp.

Referenced by RTT::os::Thread::getStopTimeout(), and RTT::os::Thread::setLockTimeoutPeriodFactor().

int RTT::os::Thread::maxOverRun
protectedinherited

The maximum times a periodic overrun may happen, or -1 if unlimited.

Definition at line 347 of file Thread.hpp.

Referenced by RTT::os::Thread::getMaxOverrun(), loop(), RTT::os::Thread::setMaxOverrun(), and RTT::os::thread_function().

int RTT::os::Thread::msched_type
protectedinherited
os::Condition RTT::Activity::msg_cond
protected

Definition at line 224 of file Activity.hpp.

Referenced by loop(), stop(), timeout(), and trigger().

os::Mutex RTT::Activity::msg_lock
protected

Definition at line 223 of file Activity.hpp.

Referenced by loop(), and stop().

bool RTT::Activity::mstopRequested
protected

Definition at line 234 of file Activity.hpp.

Referenced by loop(), start(), and stop().

bool RTT::Activity::mtimeout
protected

When set to true, a next cycle will be a TimeOut cycle.

Definition at line 233 of file Activity.hpp.

Referenced by loop(), and timeout().

int RTT::Activity::mwaitpolicy
protected

Definition at line 235 of file Activity.hpp.

Referenced by loop(), and setWaitPeriodPolicy().

NANO_TIME RTT::os::Thread::period
protectedinherited
bool RTT::os::Thread::prepareForExit
protectedinherited

Signal the thread that it should exit.

Definition at line 316 of file Thread.hpp.

Referenced by RTT::os::Thread::terminate(), and RTT::os::thread_function().

RTOS_TASK RTT::os::Thread::rtos_task
protectedinherited
RunnableInterface* RTT::base::ActivityInterface::runner
protectedinherited
bool RTT::os::Thread::running
protectedinherited
rt_sem_t RTT::os::Thread::sem
protectedinherited
double RTT::os::Thread::stopTimeout
protectedinherited

The timeout, in seconds, for stop()

Definition at line 357 of file Thread.hpp.

Referenced by RTT::os::Thread::getStopTimeout(), and RTT::os::Thread::setStopTimeout().

int RTT::os::ThreadInterface::threadnb
protectedinherited

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

See also
os::threads

Definition at line 229 of file ThreadInterface.hpp.

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

double RTT::Activity::update_period
protected

The period at which the Activity steps().

Definition at line 228 of file Activity.hpp.

Referenced by getPeriod(), isPeriodic(), loop(), setPeriod(), stop(), and timeout().


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