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

#include <rtt/os/MainThread.hpp>

Inheritance diagram for RTT::os::MainThread:

Public Member Functions
virtual	~MainThread ()

virtual bool	start ()
	Always fails. More...

virtual bool	stop ()
	Always fails. More...

virtual Seconds	getPeriod () const
	Returns zero. More...

virtual bool	setPeriod (Seconds period)
	Returns always false. More...

virtual nsecs	getPeriodNS () const
	Returns zero. More...

virtual bool	isRunning () const
	Returns always true. More...

virtual bool	isActive () const
	Returns always true. More...

virtual const char *	getName () const
	Returns "main". 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 unsigned	getCpuAffinity () const

virtual void	setMaxOverrun (int m)

virtual int	getMaxOverrun () const

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

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

unsigned int	threadNumber () const
	Returns zero, the number of the main() thread. More...

bool	isSelf () const

Static Public Member Functions
static ThreadInterface *	Instance ()
	Return an object which represents the main thread. More...

static void	Release ()
	This is called to cleanup the main thread. More...

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

Detailed Description

A class which represents the main() thread.

Definition at line 52 of file MainThread.hpp.

Constructor & Destructor Documentation

RTT::os::MainThread::~MainThread ( )

virtual

Definition at line 54 of file MainThread.cpp.

References RTT::os::rtos_task_delete_main().

Member Function Documentation

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

virtual

Returns: the cpu affinity

Implements RTT::os::ThreadInterface.

Definition at line 114 of file MainThread.cpp.

References RTT::os::rtos_task_get_cpu_affinity().

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

virtual

Implements RTT::os::ThreadInterface.

Definition at line 128 of file MainThread.cpp.

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

virtual

Returns "main".

Implements RTT::os::ThreadInterface.

Definition at line 82 of file MainThread.cpp.

Seconds RTT::os::MainThread::getPeriod ( ) const

virtual

Returns zero.

Implements RTT::os::ThreadInterface.

Definition at line 75 of file MainThread.cpp.

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

virtual

Returns zero.

Implements RTT::os::ThreadInterface.

Definition at line 77 of file MainThread.cpp.

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.

const RTOS_TASK * RTT::os::MainThread::getTask ( ) const

virtual

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 86 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::TimerThread::Instance(), RTT::extras::SimulationThread::simthread(), RTT::extras::SequentialActivity::thread(), RTT::extras::SlaveActivity::thread(), and RTT::extras::FileDescriptorSimulationActivity::thread().

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

virtual

Returns always true.

Implements RTT::os::ThreadInterface.

Definition at line 80 of file MainThread.cpp.

bool RTT::os::MainThread::isRunning ( ) const

virtual

Returns always true.

Implements RTT::os::ThreadInterface.

Definition at line 79 of file MainThread.cpp.

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().

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

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().

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

virtual

Implements RTT::os::ThreadInterface.

Definition at line 124 of file MainThread.cpp.

bool RTT::os::MainThread::setPeriod ( Seconds period )

virtual

Returns always false.

Implements RTT::os::ThreadInterface.

Definition at line 119 of file MainThread.cpp.

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.