Classes | Public Types | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
RTT::os::Timer Class Reference

#include <Timer.hpp>

Inheritance diagram for RTT::os::Timer:
Inheritance graph
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List of all members.

Classes

struct  TimerInfo

Public Types

typedef int TimerId

Public Member Functions

bool arm (TimerId timer_id, Seconds wait_time)
bool isArmed (TimerId timer_id) const
bool killTimer (TimerId timer_id)
void setMaxTimers (TimerId max)
bool startTimer (TimerId timer_id, Seconds period)
virtual void timeout (TimerId timer_id)
 Timer (TimerId max_timers, int scheduler=-1, int priority=0)
TimeService::Seconds timeRemaining (TimerId timer_id) const
bool waitFor (RTT::os::Timer::TimerId id)
bool waitForUntil (RTT::os::Timer::TimerId id, nsecs abs_time)
 ~Timer ()

Protected Types

typedef TimeService::nsecs Time
typedef std::vector< TimerInfoTimerIds

Protected Member Functions

bool breakLoop ()
void finalize ()
bool initialize ()
void loop ()
void step ()

Protected Attributes

Mutex m
bool mdo_quit
Semaphore msem
base::ActivityInterfacemThread
TimerIds mtimers

Detailed Description

This class allows to define a timer object which can be armed in single shot and periodic mode. In Order to use this class, derive your class from Timer and implement the timeout() method. The resolution of this class depends completely on the timer resolution of the underlying operating system.

If you do not attach an activity, the Timer will create a thread of its own and start it. That thread will be stopped and cleaned up when the Timer is destroyed.

Definition at line 67 of file Timer.hpp.


Member Typedef Documentation

Definition at line 79 of file Timer.hpp.

A positive numeric ID representing a timer.

Definition at line 74 of file Timer.hpp.

typedef std::vector<TimerInfo> RTT::os::Timer::TimerIds [protected]

Index in vector is the timer id. 1st Time is the absolute time upon which the timer expires. 2nd Time is the optional period of the timer.

Definition at line 96 of file Timer.hpp.


Constructor & Destructor Documentation

RTT::Timer::Timer ( TimerId  max_timers,
int  scheduler = -1,
int  priority = 0 
)

Create a timer object which can hold max_timers timers. A Timer must be executed in a non periodic thread (or the main thread) or it will refuse to start. If scheduler is set to -1 (default) no thread is created and you need to attach a thread yourself to this Timer.

Parameters:
max_timersThe initial amount of timers this Timer can monitor. Keep as low as possible. See also setMaxTimers().
schedulerThe Orocos scheduler type for this timer. ORO_SCHED_OTHER or ORO_SCHED_RT or -1 to attach your own thread.
priorityThe priority within the scheduler of this timer.

Definition at line 143 of file Timer.cpp.

Definition at line 153 of file Timer.cpp.


Member Function Documentation

bool RTT::Timer::arm ( TimerId  timer_id,
Seconds  wait_time 
)

Arm a timer to fire once over wait_time seconds.

Parameters:
timer_idThe number of the timer, starting from zero.
wait_timeThe time in seconds from now, when the timer should expire. This is a floating point number.
See also:
killTimer to disable it before it fires.

Definition at line 189 of file Timer.cpp.

bool RTT::Timer::breakLoop ( ) [protected, virtual]

This method is called by the framework to break out of the loop() method. Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns:
true if the loop could be notified to return.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 132 of file Timer.cpp.

void RTT::Timer::finalize ( ) [protected, virtual]

The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.

Implements RTT::base::RunnableInterface.

Definition at line 55 of file Timer.cpp.

bool RTT::Timer::initialize ( ) [protected, virtual]

The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.

Implements RTT::base::RunnableInterface.

Definition at line 50 of file Timer.cpp.

bool RTT::Timer::isArmed ( TimerId  timer_id) const

Check if a given timer id is armed.

Parameters:
timer_idThe number of the timer, starting from zero.

Definition at line 209 of file Timer.cpp.

bool RTT::Timer::killTimer ( TimerId  timer_id)

Disable an armed timer.

Parameters:
timer_idThe number of the timer, starting from zero.

Definition at line 236 of file Timer.cpp.

void RTT::Timer::loop ( ) [protected, virtual]

The method that will be executed once when this class is run in a non periodic thread. The default implementation calls step() once.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 61 of file Timer.cpp.

Change the maximum number of timers in this object. Any added timer with id >= max will be removed.

Definition at line 164 of file Timer.cpp.

bool RTT::Timer::startTimer ( TimerId  timer_id,
Seconds  period 
)

Start a periodic timer which starts first over period seconds and then every period seconds.

Parameters:
timer_idThe number of the timer, starting from zero.
periodThe period when the timer should expire. This is a floating point number.
See also:
killTimer to disable it again.

Definition at line 170 of file Timer.cpp.

void RTT::Timer::step ( ) [protected, virtual]

The method that will be periodically executed when this class is run in a periodic thread.

Implements RTT::base::RunnableInterface.

Definition at line 57 of file Timer.cpp.

void RTT::Timer::timeout ( TimerId  timer_id) [virtual]

This function is called each time an armed or periodic timer expires. The user must implement this method to catch the time outs.

Parameters:
timer_idThe number of the timer that expired.

Definition at line 159 of file Timer.cpp.

double RTT::Timer::timeRemaining ( TimerId  timer_id) const

Returns the remaining time before this timer elapses.

Return values:
0.0if the timer is not armed or has already elapsed.
Returns:
the remaining time in seconds.

Definition at line 220 of file Timer.cpp.

Wait for a timer to expire.

Parameters:
timer_idThe number of the timer, starting from zero.
Returns:
true if timer has expired or if it was killed and false if the timer is not armed

Definition at line 250 of file Timer.cpp.

Wait for a timer to expire with timeout.

Parameters:
timer_idThe number of the timer, starting from zero.
abs_timeThe absolute time to wait until before the condition happens. Use rtos_get_time_ns() to get the current time and Seconds_to_nsecs to add a certain amount to the result.
Returns:
true if timer has expired or if it was killed before abs_time and false if the timer is not armed

Definition at line 263 of file Timer.cpp.


Member Data Documentation

Mutex RTT::os::Timer::m [mutable, protected]

Definition at line 78 of file Timer.hpp.

bool RTT::os::Timer::mdo_quit [protected]

Definition at line 98 of file Timer.hpp.

Definition at line 77 of file Timer.hpp.

Definition at line 76 of file Timer.hpp.

Definition at line 97 of file Timer.hpp.


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


rtt
Author(s): RTT Developers
autogenerated on Fri Sep 9 2016 04:02:20