PeriodicThread.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jun 10 14:43:13 CEST 2002  PeriodicThread.hpp 

                        PeriodicThread.hpp -  description
                           -------------------
    begin                : Mon June 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
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#ifndef ORO_PERIODIC_THREAD_HPP
#define ORO_PERIODIC_THREAD_HPP

// Our own package config headers.
#include "../rtt-config.h"
#include "fosi.h"

#include "RunnableInterface.hpp"
#include "ThreadInterface.hpp"

#include <string>

namespace RTT
{ 
    class DigitalOutInterface;

    namespace OS {
    class PeriodicThread 
        : public OS::ThreadInterface 
    {
        friend void* periodicThread( void* t );

    public:

        PeriodicThread(int priority,const std::string & name, double period, OS::RunnableInterface* r=0);
    
        PeriodicThread(int scheduler, int priority,const std::string & name, double period, OS::RunnableInterface* r=0);
    
        virtual ~PeriodicThread();

        virtual bool run( OS::RunnableInterface* r);

        virtual bool start();
        virtual bool stop();
        bool setPeriod( Seconds s );
        bool setPeriod( secs s, nsecs ns );
        void getPeriod( secs& s, nsecs& ns ) const;

        virtual Seconds getPeriod() const;

        virtual nsecs getPeriodNS() const;

        virtual bool isRunning() const;

        virtual const char* getName() const;

        virtual RTOS_TASK * getTask(){return &rtos_task;};

        virtual bool setScheduler(int sched_type);
        virtual int getScheduler() const;

        bool setPeriod(  TIME_SPEC p );

        virtual bool setPriority(int priority);

        virtual int getPriority() const;

        virtual void yield();

        void setMaxOverrun( int m );
        int getMaxOverrun() const;
        void terminate();

        void emergencyStop();
     protected:

        virtual void continuousStepping(bool yes_no);
        virtual bool setToStop();

        virtual void step();
    
        virtual bool initialize();

        virtual void finalize();
     private:

        void setup(int _priority, const std::string& name);

        void configure();

        RTOS_TASK rtos_task;

        int msched_type;

        bool running;

        bool prepareForExit;

        bool wait_for_step;

        rt_sem_t sem;
        rt_sem_t confDone;
        OS::RunnableInterface* runComp;

        int maxOverRun;

        // Only used for passing on the period
        NANO_TIME period;

#ifdef OROPKG_OS_THREAD_SCOPE
    // Pointer to Threadscope device
        DigitalOutInterface * d;
#endif    
    };

}}

#endif