#include <SimulationThread.hpp>

Inheritance diagram for RTT::extras::SimulationThread:

Public Member Functions
virtual bool	isRunning () const

virtual bool	run (unsigned int maxsteps)

virtual os::ThreadInterface *	simthread ()

virtual bool	start ()

virtual bool	start (unsigned int maxsteps)

virtual	~SimulationThread ()

Public Member Functions inherited from RTT::extras::TimerThread
bool	addActivity (PeriodicActivity *t)

bool	removeActivity (PeriodicActivity *t)

	TimerThread (int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)

	TimerThread (int scheduler, int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)

virtual	~TimerThread ()

Public Member Functions inherited from RTT::os::Thread
virtual unsigned	getCpuAffinity () const

virtual int	getMaxOverrun () const

virtual const char *	getName () const

void	getPeriod (secs &s, nsecs &ns) const

virtual Seconds	getPeriod () const

virtual nsecs	getPeriodNS () const

virtual unsigned int	getPid () const

virtual int	getPriority () const

virtual int	getScheduler () const

Seconds	getStopTimeout () const

virtual RTOS_TASK *	getTask ()

virtual const RTOS_TASK *	getTask () const

virtual bool	isActive () const

virtual bool	isPeriodic () const

virtual bool	setCpuAffinity (unsigned cpu_affinity)

virtual void	setMaxOverrun (int m)

bool	setPeriod (Seconds s)

bool	setPeriod (secs s, nsecs ns)

bool	setPeriod (TIME_SPEC p)

virtual bool	setPriority (int priority)

virtual bool	setScheduler (int sched_type)

void	setStopTimeout (Seconds s)

virtual void	setWaitPeriodPolicy (int p)

virtual bool	stop ()

	Thread (int scheduler, int priority, double period, unsigned cpu_affinity, const std::string &name)

virtual void	yield ()

virtual	~Thread ()

Public Member Functions inherited from RTT::os::ThreadInterface
bool	isSelf () const

	ThreadInterface ()

unsigned int	threadNumber () const

virtual	~ThreadInterface ()

Static Public Member Functions
static SimulationThreadPtr	Instance (double period=0.001)

static bool	Release ()

Static Public Member Functions inherited from RTT::extras::TimerThread
static TimerThreadPtr	Instance (int priority, double periodicity)

static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity)

static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity, unsigned cpu_affinity)

Static Public Member Functions inherited from RTT::os::Thread
static void	setLockTimeoutNoPeriod (double timeout_in_s)

static void	setLockTimeoutPeriodFactor (double factor)

static void	setStackSize (unsigned int ssize)

Protected Member Functions
void	finalize ()

bool	initialize ()

	SimulationThread (double period)

void	step ()

Protected Member Functions inherited from RTT::extras::TimerThread
void	reorderList ()

Protected Member Functions inherited from RTT::os::Thread
virtual bool	breakLoop ()

void	emergencyStop ()

virtual void	loop ()

void	terminate ()

Private Attributes
os::TimeService *	beat

unsigned int	cursteps

unsigned int	maxsteps_

bool	sim_running

Static Private Attributes
static SimulationThreadPtr	_instance

Additional Inherited Members
Static Public Attributes inherited from RTT::extras::TimerThread
static const unsigned int	MAX_ACTIVITIES = 64

Protected Types inherited from RTT::extras::TimerThread
typedef std::vector< boost::weak_ptr< TimerThread > >	TimerThreadList

Protected Attributes inherited from RTT::extras::TimerThread
os::MutexRecursive	mutex

Protected Attributes inherited from RTT::os::Thread
bool	active

MutexRecursive	breaker

bool	inloop

int	maxOverRun

int	msched_type

NANO_TIME	period

bool	prepareForExit

RTOS_TASK	rtos_task

bool	running

rt_sem_t	sem

double	stopTimeout

Protected Attributes inherited from RTT::os::ThreadInterface
int	threadnb

Static Protected Attributes inherited from RTT::extras::TimerThread
static TimerThreadList	TimerThreads

Static Protected Attributes inherited from RTT::os::Thread
static unsigned int	default_stack_size = 0

static double	lock_timeout_no_period_in_s = 1.0

static double	lock_timeout_period_factor = 10.0

Detailed Description

This thread is the simulated real-time periodic thread in the Orocos system.

All your activities in the same program must be a SimulationActivity for this to work, since the os::TimeService global time is updated when this thread runs.

By default, the update period is 0.001 seconds. If you want to run with a finer or coarser grained time step, use the Instance() method and supply another period before SimulationActivities are created.

Note: This implementation has lost the capability to run SimulationActivity objects of different periods.

Definition at line 64 of file SimulationThread.hpp.

Constructor & Destructor Documentation

RTT::SimulationThread::~SimulationThread ( )

virtual

Destructor

Definition at line 98 of file SimulationThread.cpp.

RTT::SimulationThread::SimulationThread ( double period )

protected

Constructor

Definition at line 86 of file SimulationThread.cpp.

Member Function Documentation

void RTT::SimulationThread::finalize ( )

protectedvirtual

See also: base::RunnableInterface::finalize()

Reimplemented from RTT::extras::TimerThread.

Definition at line 155 of file SimulationThread.cpp.

bool RTT::SimulationThread::initialize ( )

protectedvirtual

See also: base::RunnableInterface::initialize()

Reimplemented from RTT::extras::TimerThread.

Definition at line 141 of file SimulationThread.cpp.

SimulationThreadPtr RTT::SimulationThread::Instance ( double period = 0.001 )

static

Create the SimulationThread with a given period. Only one SimulationThread can be created.

Parameters

period The period in seconds at which the simulation takes steps and updates the TimeService. Only the first invocation of Instance will consider this parameter. The others will ignore it.

Definition at line 69 of file SimulationThread.cpp.

bool RTT::SimulationThread::isRunning ( ) const

virtual

Returns true if thread is running or run( unsigned int ) is being invoked.

Reimplemented from RTT::os::Thread.

Definition at line 103 of file SimulationThread.cpp.

bool RTT::SimulationThread::Release ( )

static

Releases the SimulationThread Reference counting might aid in making this call safe

Returns: true on success, false on failure

Definition at line 79 of file SimulationThread.cpp.

bool RTT::SimulationThread::run ( unsigned int maxsteps )

virtual

Execute maxsteps steps immediately. This function will call the step() functions maxsteps times, without requiring start() or stop() to be called before or after. The thread is thus not used.

Returns: false if maxsteps == 0

Postcondition: When run() returns, step() has been called maxsteps times.

Definition at line 122 of file SimulationThread.cpp.

os::ThreadInterface * RTT::SimulationThread::simthread ( )

virtual

Always returns the MainThread.

Definition at line 137 of file SimulationThread.cpp.

bool RTT::SimulationThread::start ( )

virtual

Start the Thread.

Postcondition: initialize() is called first; The Thread is running

Returns: true if the function did succeed. false otherwise.

Reimplemented from RTT::os::Thread.

Definition at line 108 of file SimulationThread.cpp.

bool RTT::SimulationThread::start ( unsigned int maxsteps )

virtual

Only run the simulation maxsteps time steps, then stop the SimulationThread.

Returns: false if maxsteps == 0 or if thread could not be started.

Definition at line 114 of file SimulationThread.cpp.

void RTT::SimulationThread::step ( )

protectedvirtual

See also: base::RunnableInterface::step()

Reimplemented from RTT::extras::TimerThread.

Definition at line 166 of file SimulationThread.cpp.

Member Data Documentation

SimulationThreadPtr RTT::SimulationThread::_instance

staticprivate

Our only instance of the SimulationThread

Definition at line 135 of file SimulationThread.hpp.

os::TimeService* RTT::extras::SimulationThread::beat

private

The System clock.

Definition at line 140 of file SimulationThread.hpp.

unsigned int RTT::extras::SimulationThread::cursteps

private

Definition at line 142 of file SimulationThread.hpp.

unsigned int RTT::extras::SimulationThread::maxsteps_

private

Definition at line 142 of file SimulationThread.hpp.

bool RTT::extras::SimulationThread::sim_running

private

Definition at line 144 of file SimulationThread.hpp.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation