Thread.hpp
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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 
00144             static void setLockTimeoutNoPeriod(double timeout_in_s);
00145 
00152             static void setLockTimeoutPeriodFactor(double factor);
00153 
00154 
00155             virtual bool start();
00156 
00157             virtual bool stop();
00158 
00163             void setStopTimeout(Seconds s);
00164 
00171             Seconds getStopTimeout() const;
00172 
00173             bool setPeriod(Seconds s);
00174 
00179             bool setPeriod(secs s, nsecs ns);
00180 
00184             bool setPeriod(TIME_SPEC p);
00185 
00190             void getPeriod(secs& s, nsecs& ns) const;
00191 
00192             virtual Seconds getPeriod() const;
00193 
00194             virtual nsecs getPeriodNS() const;
00195 
00196             virtual bool isPeriodic() const;
00197 
00198             virtual bool isRunning() const;
00199 
00200             virtual bool isActive() const;
00201 
00202             virtual const char* getName() const;
00203 
00204             virtual RTOS_TASK * getTask()
00205             {
00206                 return &rtos_task;
00207             }
00208 
00209             virtual const RTOS_TASK * getTask() const
00210             {
00211                 return &rtos_task;
00212             }
00213 
00214             virtual bool setScheduler(int sched_type);
00215 
00216             virtual int getScheduler() const;
00217 
00218             virtual bool setPriority(int priority);
00219 
00220             virtual int getPriority() const;
00221 
00222             virtual unsigned int getPid() const;
00228             virtual bool setCpuAffinity(unsigned cpu_affinity);
00229 
00233             virtual unsigned getCpuAffinity() const;
00234 
00235             virtual void yield();
00236 
00237             virtual void setMaxOverrun(int m);
00238 
00239             virtual int getMaxOverrun() const;
00240 
00241             virtual void setWaitPeriodPolicy(int p);
00242 
00243         protected:
00249             void terminate();
00250 
00251             void emergencyStop();
00252 
00256             virtual void step();
00257 
00261             virtual void loop();
00262 
00266             virtual bool breakLoop();
00267 
00271             virtual bool initialize();
00272 
00276             virtual void finalize();
00277         private:
00278             Thread(const Thread&);
00279 
00280             void setup(int _priority, unsigned cpu_affinity, const std::string& name);
00281 
00285             void configure();
00286 
00287             static unsigned int default_stack_size;
00288 
00292             static double lock_timeout_no_period_in_s;
00293 
00297             static double lock_timeout_period_factor;
00298 
00302             int msched_type;
00303 
00308             bool active;
00309 
00313             bool prepareForExit;
00314 
00318             bool inloop;
00319 
00323             bool running;
00324 
00328             RTOS_TASK rtos_task;
00329 
00333             rt_sem_t sem;
00334 
00338             MutexRecursive breaker;
00339 
00344             int maxOverRun;
00345 
00349             NANO_TIME period;
00350 
00354             double stopTimeout;
00355 
00356 #ifdef OROPKG_OS_THREAD_SCOPE
00357             // Pointer to Threadscope device
00358             dev::DigitalOutInterface * d;
00359 #endif
00360         };
00361 
00362     }
00363 }
00364 
00365 #endif


rtt
Author(s): RTT Developers
autogenerated on Wed Aug 26 2015 16:16:19