RTT::os::MainThread Class Reference

#include <MainThread.hpp>

Inheritance diagram for RTT::os::MainThread:

Public Member Functions
virtual int	getMaxOverrun () const
virtual const char *	getName () const
virtual Seconds	getPeriod () const
virtual nsecs	getPeriodNS () const
virtual unsigned int	getPid () const
virtual int	getPriority () const
virtual int	getScheduler () const
virtual const RTOS_TASK *	getTask () const
virtual RTOS_TASK *	getTask ()
virtual bool	isActive () const
virtual bool	isRunning () const
virtual void	setMaxOverrun (int m)
virtual bool	setPeriod (Seconds period)
virtual bool	setPriority (int priority)
virtual bool	setScheduler (int sched_type)
virtual void	setWaitPeriodPolicy (int p)
virtual bool	start ()
virtual bool	stop ()
unsigned int	threadNumber () const
virtual void	yield ()
virtual	~MainThread ()
Static Public Member Functions
static ThreadInterface *	Instance ()
static void	Release ()
Private Member Functions
	MainThread ()
Private Attributes
RTOS_TASK	main_task
Static Private Attributes
static boost::shared_ptr < ThreadInterface >	mt

Detailed Description

A class which represents the main() thread.

Definition at line 52 of file MainThread.hpp.

Constructor & Destructor Documentation

RTT::os::MainThread::MainThread ( ) [private]

Definition at line 50 of file MainThread.cpp.

RTT::os::MainThread::~MainThread ( ) [virtual]

Definition at line 54 of file MainThread.cpp.

Member Function Documentation

int RTT::os::MainThread::getMaxOverrun ( ) const [virtual]

Implements RTT::os::ThreadInterface.

Definition at line 123 of file MainThread.cpp.

const char * RTT::os::MainThread::getName ( ) const [virtual]

Returns "main".

Implements RTT::os::ThreadInterface.

Definition at line 82 of file MainThread.cpp.

Seconds RTT::os::MainThread::getPeriod ( ) const [virtual]

Returns zero.

Implements RTT::os::ThreadInterface.

Definition at line 75 of file MainThread.cpp.

nsecs RTT::os::MainThread::getPeriodNS ( ) const [virtual]

Returns zero.

Implements RTT::os::ThreadInterface.

Definition at line 77 of file MainThread.cpp.

unsigned int RTT::os::MainThread::getPid ( ) const [virtual]

Returns the Process or Thread ID of this thread, as assigned by the Operating System. This function tries to return the Thread ID, if the OS supports it, otherwise it returns the process ID. If that is not available either, zero is returned. On Linux systems for example, the Thread ID of the main thread is equal to the Process ID. The Thread ID of every newly created thread is different from the Process ID (and unique).

Implements RTT::os::ThreadInterface.

Definition at line 109 of file MainThread.cpp.

int RTT::os::MainThread::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.

See also:: setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 104 of file MainThread.cpp.

int RTT::os::MainThread::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 RTT::os::ThreadInterface.

Definition at line 94 of file MainThread.cpp.

const RTOS_TASK * RTT::os::MainThread::getTask ( ) const [virtual]

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 86 of file MainThread.cpp.

RTOS_TASK * RTT::os::MainThread::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 RTT::os::ThreadInterface.

Definition at line 84 of file MainThread.cpp.

ThreadInterface * RTT::os::MainThread::Instance ( ) [static]

Return an object which represents the main thread. Only after this call, OS calls may be done.

Definition at line 58 of file MainThread.cpp.

bool RTT::os::MainThread::isActive ( ) const [virtual]

Returns always true.

Implements RTT::os::ThreadInterface.

Definition at line 80 of file MainThread.cpp.

bool RTT::os::MainThread::isRunning ( ) const [virtual]

Returns always true.

Implements RTT::os::ThreadInterface.

Definition at line 79 of file MainThread.cpp.

void RTT::os::MainThread::Release ( ) [static]

This is called to cleanup the main thread. After this call, no OS calls may be done.

Definition at line 66 of file MainThread.cpp.

void RTT::os::MainThread::setMaxOverrun ( int m ) [virtual]

Implements RTT::os::ThreadInterface.

Definition at line 119 of file MainThread.cpp.

bool RTT::os::MainThread::setPeriod ( Seconds period ) [virtual]

Returns always false.

Implements RTT::os::ThreadInterface.

Definition at line 114 of file MainThread.cpp.

bool RTT::os::MainThread::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 RTT::os::ThreadInterface.

Definition at line 99 of file MainThread.cpp.

bool RTT::os::MainThread::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.