MainThread.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: FMTC do nov 2 13:06:03 CET 2006 MainThread.hpp 00003 00004 MainThread.hpp - description 00005 ------------------- 00006 begin : do november 02 2006 00007 copyright : (C) 2006 FMTC 00008 email : peter.soetens@fmtc.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 00040 #ifndef RTT_OS_MAIN_THREAD_HPP 00041 #define RTT_OS_MAIN_THREAD_HPP 00042 00043 #include "ThreadInterface.hpp" 00044 #include <boost/shared_ptr.hpp> 00045 00046 namespace RTT 00047 { namespace os { 00048 00052 class RTT_API MainThread 00053 : public ThreadInterface 00054 { 00055 MainThread(); 00060 static boost::shared_ptr<ThreadInterface> mt; 00061 RTOS_TASK main_task; 00062 public: 00063 virtual ~MainThread(); 00064 00069 static ThreadInterface* Instance(); 00070 00075 static void Release(); 00076 00080 virtual bool start(); 00081 00085 virtual bool stop(); 00086 00090 virtual Seconds getPeriod() const; 00091 00095 virtual bool setPeriod(Seconds period); 00096 00100 virtual nsecs getPeriodNS() const; 00101 00105 virtual bool isRunning() const; 00106 00110 virtual bool isActive() const; 00111 00115 virtual const char* getName() const; 00116 00117 virtual RTOS_TASK * getTask(); 00118 00119 virtual const RTOS_TASK * getTask() const; 00120 00121 virtual bool setScheduler(int sched_type); 00122 00123 virtual int getScheduler() const; 00124 00125 virtual bool setPriority(int priority); 00126 00127 virtual int getPriority() const; 00128 00129 virtual unsigned int getPid() const; 00130 00131 virtual void setMaxOverrun(int m); 00132 00133 virtual int getMaxOverrun() const; 00134 00135 virtual void setWaitPeriodPolicy(int p); 00136 00137 virtual void yield(); 00138 00142 unsigned int threadNumber() const; 00143 protected: 00144 00145 }; 00146 }} 00147 00148 #endif