Thread.hpp
Go to the documentation of this file.
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jun 10 14:43:13 CEST 2002  Thread.hpp
00003 
00004                         Thread.hpp -  description
00005                            -------------------
00006     begin                : Mon June 10 2002
00007     copyright            : (C) 2002 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.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 #ifndef ORO_THREAD_HPP
00039 #define ORO_THREAD_HPP
00040 
00041 // Our own package config headers.
00042 #include "../rtt-config.h"
00043 #include "fosi.h"
00044 
00045 #include "ThreadInterface.hpp"
00046 #include "Mutex.hpp"
00047 
00048 #include <string>
00049 
00050 namespace RTT
00051 {
00052 
00053     namespace os
00054     {
00109         class RTT_API Thread: public ThreadInterface
00110         {
00111             friend void* thread_function(void* t);
00112 
00113         public:
00114 
00125             Thread(int scheduler, int priority, double period, unsigned cpu_affinity,
00126                    const std::string & name);
00127 
00128             virtual ~Thread();
00129 
00137             static void setStackSize(unsigned int ssize);
00138 
00139             virtual bool start();
00140 
00141             virtual bool stop();
00142 
00143             bool setPeriod(Seconds s);
00144 
00149             bool setPeriod(secs s, nsecs ns);
00150 
00154             bool setPeriod(TIME_SPEC p);
00155 
00160             void getPeriod(secs& s, nsecs& ns) const;
00161 
00162             virtual Seconds getPeriod() const;
00163 
00164             virtual nsecs getPeriodNS() const;
00165 
00166             virtual bool isPeriodic() const;
00167 
00168             virtual bool isRunning() const;
00169 
00170             virtual bool isActive() const;
00171 
00172             virtual const char* getName() const;
00173 
00174             virtual RTOS_TASK * getTask()
00175             {
00176                 return &rtos_task;
00177             }
00178 
00179             virtual const RTOS_TASK * getTask() const
00180             {
00181                 return &rtos_task;
00182             }
00183 
00184             virtual bool setScheduler(int sched_type);
00185 
00186             virtual int getScheduler() const;
00187 
00188             virtual bool setPriority(int priority);
00189 
00190             virtual int getPriority() const;
00191 
00192             virtual unsigned int getPid() const;
00198             virtual bool setCpuAffinity(unsigned cpu_affinity);
00199 
00203             virtual unsigned getCpuAffinity() const;
00204 
00205             virtual void yield();
00206 
00207             virtual void setMaxOverrun(int m);
00208 
00209             virtual int getMaxOverrun() const;
00210 
00211             virtual void setWaitPeriodPolicy(int p);
00212 
00213         protected:
00219             void terminate();
00220 
00221             void emergencyStop();
00222 
00226             virtual void step();
00227 
00231             virtual void loop();
00232 
00236             virtual bool breakLoop();
00237 
00241             virtual bool initialize();
00242 
00246             virtual void finalize();
00247         private:
00248             Thread(const Thread&);
00249 
00250             void setup(int _priority, unsigned cpu_affinity, const std::string& name);
00251 
00255             void configure();
00256 
00257             static unsigned int default_stack_size;
00258 
00262             int msched_type;
00263 
00268             bool active;
00269 
00273             bool prepareForExit;
00274 
00278             bool inloop;
00279 
00283             bool running;
00284 
00288             RTOS_TASK rtos_task;
00289 
00293             rt_sem_t sem;
00294 
00298             MutexRecursive breaker;
00299 
00304             int maxOverRun;
00305 
00309             NANO_TIME period;
00310 
00311 #ifdef OROPKG_OS_THREAD_SCOPE
00312             // Pointer to Threadscope device
00313             dev::DigitalOutInterface * d;
00314 #endif
00315         };
00316 
00317     }
00318 }
00319 
00320 #endif


rtt
Author(s): RTT Developers
autogenerated on Mon Oct 6 2014 03:13:54