Public Member Functions | Private Attributes
OpenRTM::RTPreemptEC Class Reference

RTPreemptEC クラス More...

#include <RTPreemptEC.h>

Inheritance diagram for OpenRTM::RTPreemptEC:
Inheritance graph
[legend]

List of all members.

Public Member Functions

template<class T >
void getProperty (coil::Properties &prop, const char *key, T &value)
 Thread execution function for ExecutionContext.
 RTPreemptEC ()
 Default Constructor.
virtual int svc (void)
 Thread execution function for ExecutionContext.
virtual ~RTPreemptEC ()
 Destructor.

Private Attributes

int m_policy
int m_priority
int m_waitoffset

Detailed Description

RTPreemptEC クラス

This class is real-time ExecutionContext which utilizes RT-Prempt kernel. This ExecutionContext is a real-time ExecutionContext which utilizes real-time scheduler functionality of "RT-Preempt" Linux kernel (patched or originally embedded).

Give the following configurations in your rtc.conf to use this EC.

 exec_cxt.periodic.type: RTPreemptEC
 exec_cxt.periodic.rate: 1000
 exec_cxt.priority: 50
 manager.modules.load_path: <path to RTPreemptRC.so>
 manager.modules.preload: RTPreemptEC.so
 

Since this functionality requires root authority, your RTC which uses this EC have to be executed as root.

The following RTPreemptEC specific options are available.

NOTICE: When performing comparatively quick cycle (tens of ms or more) using this EC, log-level have to be lower than DEBUG (logger.log_level: NORMAL or etc.). Moreover, even if "logger.enable=No" is set, if "logger.log_level=PRANOID" is set, execution of onExecute() takes longer time and it may cause deadline-miss. So caution is needed.

Since:
1.0.1

Definition at line 126 of file RTPreemptEC.h.


Constructor & Destructor Documentation

Default Constructor.

Default Constructor

Definition at line 41 of file RTPreemptEC.cpp.

Destructor.

Destructor

Definition at line 83 of file RTPreemptEC.cpp.


Member Function Documentation

template<class T >
void OpenRTM::RTPreemptEC::getProperty ( coil::Properties prop,
const char *  key,
T &  value 
) [inline]

Thread execution function for ExecutionContext.

Thread execution function for ExecutionContext. Invoke the registered components operation.

Returns:
The execution result

Definition at line 201 of file RTPreemptEC.h.

int OpenRTM::RTPreemptEC::svc ( void  ) [virtual]

Thread execution function for ExecutionContext.

Thread execution function for ExecutionContext. Invoke the registered components operation.

Returns:
The execution result

Reimplemented from RTC::PeriodicExecutionContext.

Definition at line 94 of file RTPreemptEC.cpp.


Member Data Documentation

Definition at line 215 of file RTPreemptEC.h.

Definition at line 214 of file RTPreemptEC.h.

Definition at line 216 of file RTPreemptEC.h.


The documentation for this class was generated from the following files:


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:12