TimerThread Class Reference

#include <rtt/TimerThread.hpp>

Inheritance diagram for TimerThread:

Detailed Description

This Periodic Thread is meant for executing a PeriodicActivity object periodically.

See also:: PeriodicActivity

Definition at line 71 of file TimerThread.hpp.


Public Types
typedef double	Seconds
typedef long	secs
typedef long	msecs
typedef long long	nsecs
Public Member Functions
	TimerThread (int priority, const std::string &name, double periodicity)
	Create a periodic Timer thread.
	TimerThread (int scheduler, int priority, const std::string &name, double periodicity)
	Create a periodic Timer thread with a given scheduler type.
virtual	~TimerThread ()
	Destructor.
bool	addActivity (PeriodicActivity *t)
	Add an Timer that will be ticked every execution period Once added, a timer can not be removed.
bool	removeActivity (PeriodicActivity *t)
virtual bool	run (OS::RunnableInterface *r)
	Run the functionality of one RunnableInterface object.
virtual bool	start ()
	Start the thread.
virtual bool	stop ()
	Stop the thread.
bool	setPeriod (Seconds s)
	Set the periodicity of this thread in seconds.
bool	setPeriod (secs s, nsecs ns)
	Set the periodicity of this thread (seconds, nanoseconds).
bool	setPeriod (TIME_SPEC p)
	Set the periodicity of this thread.
void	getPeriod (secs &s, nsecs &ns) const
	Get the periodicity of this thread (seconds, nanoseconds).
virtual Seconds	getPeriod () const
	Get the periodicity of this thread in seconds.
virtual nsecs	getPeriodNS () const
	Get the periodicity of this thread in nano-seconds.
virtual bool	isRunning () const
	Returns whether the thread is running.
virtual const char *	getName () const
	Read the name of this task.
virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer FIXME should this be a const?
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.
void	setMaxOverrun (int m)
int	getMaxOverrun () const
void	terminate ()
	Exit and destroy the thread.
void	emergencyStop ()
unsigned int	threadNumber () const
	The unique thread number.
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.
static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity)
	Create a TimerThread with a given scheduler, priority and periodicity.
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.
Protected Member Functions
virtual bool	initialize ()
virtual void	step ()
virtual void	finalize ()
void	reorderList ()
virtual void	continuousStepping (bool yes_no)
virtual bool	setToStop ()
	Use this from within step() to stop this thread.
Protected Attributes
OS::MutexRecursive	mutex
	A Activity can not create a activity of same priority from step().
int	threadnb
	Threads are given an unique number, which follows thread creation order.
Static Protected Attributes
static TimerThreadList	TimerThreads
	All timer threads.

Constructor & Destructor Documentation

TimerThread	(	int	priority,
		const std::string &	name,
		double	periodicity
	)

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 84 of file TimerThread.cpp.

Referenced by TimerThread::Instance().

TimerThread	(	int	scheduler,
		int	priority,
		const std::string &	name,
		double	periodicity
	)

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 90 of file TimerThread.cpp.

Member Function Documentation

bool run ( OS::RunnableInterface * r ) [virtual, inherited]

Run the functionality of one RunnableInterface object.

Only one RunnableInterface object can be run, the old one is disconnected.

Parameters:

r

The object to run or zero to clear.

Returns:: true if accepted, false if the thread is running.

Implements ThreadInterface.

Definition at line 282 of file PeriodicThread.cpp.

References PeriodicThread::isRunning(), and RunnableInterface::setThread().

bool setScheduler ( int sched_type ) [virtual, inherited]

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 368 of file PeriodicThread.cpp.

References RTT::OS::CheckScheduler(), and PeriodicThread::getScheduler().

Referenced by SimulationThread::SimulationThread().

int getScheduler ( ) const [virtual, inherited]

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 404 of file PeriodicThread.cpp.

Referenced by PeriodicThread::setScheduler().

bool setPriority ( int priority ) [virtual, inherited]

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 482 of file PeriodicThread.cpp.

int getPriority ( ) const [virtual, inherited]

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.