SingleThread.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Apr 22 20:40:53 CEST 2004  SingleThread.hpp 

                        SingleThread.hpp -  description
                           -------------------
    begin                : Thu April 22 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   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          *
 *   License.  This exception does not however invalidate any other        *
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 *   Public License.                                                       *
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#ifndef SINGLE_THREAD_HPP
#define SINGLE_THREAD_HPP

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

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

#include <string>

namespace RTT
{ 
    class DigitalOutInterface;

    namespace OS {
    class SingleThread 
        : public OS::ThreadInterface
    {
        friend void* singleThread_f( void* t );
    public:
        SingleThread(int priority, const std::string& name, OS::RunnableInterface* r=0);
    
        SingleThread(int scheduler, int priority, const std::string& name, OS::RunnableInterface* r=0);
    
        virtual ~SingleThread();

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

        virtual bool start();

        virtual bool stop();

        virtual bool isRunning() const;

        virtual bool isActive() const;

        virtual const char* getName() const;
        virtual RTOS_TASK * getTask(){return &(this->rtos_task);};

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

        virtual Seconds getPeriod() const { return 0.0; }
        virtual nsecs getPeriodNS() const { return 0; }

        virtual bool setPriority(int priority);

        virtual int getPriority() const;

        virtual void yield();

    protected:

        virtual bool breakLoop();

        virtual void loop();
    
        virtual bool initialize();

        virtual void finalize();

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

        int msched_type;

        bool active;

        bool prepareForExit;

        bool inloop;

        bool runloop;

        RTOS_TASK rtos_task;

        rt_sem_t sem;

        rt_sem_t confDone;

        OS::RunnableInterface* runComp;

        MutexRecursive breaker;

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

}}

#endif