RTT::OS::MainThread

MainThread Class Reference

#include <rtt/os/MainThread.hpp>

Inheritance diagram for MainThread:

Detailed Description

A class which represents the main() thread.

Definition at line 52 of file MainThread.hpp.


Public Types
typedef double	Seconds
typedef long	secs
typedef long	msecs
typedef long long	nsecs
Public Member Functions
virtual	~MainThread ()
virtual bool	run (OS::RunnableInterface *r)
	Always fails.
virtual bool	start ()
	Always fails.
virtual bool	stop ()
	Always fails.
virtual Seconds	getPeriod () const
	Returns zero.
virtual nsecs	getPeriodNS () const
	Returns zero.
virtual bool	isRunning () const
	Returns always true.
virtual const char *	getName () const
	Returns "main".
virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer.
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 void	yield ()
	Yields (but to the back of the scheduler queue) the calling thread.
unsigned int	threadNumber () const
	Returns zero, the number of the main() thread.
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.

Member Function Documentation

ThreadInterface * Instance ( ) [static]

Return an object which represents the main thread.

Only after this call, OS calls may be done.

Definition at line 60 of file MainThread.cpp.

Referenced by SlaveActivity::thread().

void Release ( ) [static]

This is called to cleanup the main thread.

After this call, no OS calls may be done.

Definition at line 68 of file MainThread.cpp.

RTOS_TASK * 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 ThreadInterface.

Definition at line 87 of file MainThread.cpp.

bool 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.

Returns:: true if the change could be made.

Implements ThreadInterface.

Definition at line 89 of file MainThread.cpp.

int 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 ThreadInterface.

Definition at line 95 of file MainThread.cpp.

bool 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 ThreadInterface.

Definition at line 100 of file MainThread.cpp.

int 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.