#include <ThreadInterface.hpp>

Inheritance diagram for RTT::os::ThreadInterface:

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Public Member Functions
virtual unsigned	getCpuAffinity () const =0

virtual int	getMaxOverrun () const =0

virtual const char *	getName () const =0

virtual Seconds	getPeriod () const =0

virtual nsecs	getPeriodNS () const =0

virtual unsigned int	getPid () const =0

virtual int	getPriority () const =0

virtual int	getScheduler () const =0

virtual RTOS_TASK *	getTask ()=0

virtual const RTOS_TASK *	getTask () const =0

virtual bool	isActive () const =0

virtual bool	isRunning () const =0

bool	isSelf () const

virtual void	setMaxOverrun (int m)=0

virtual bool	setPeriod (Seconds new_period)=0

virtual bool	setPriority (int priority)=0

virtual bool	setScheduler (int sched_type)=0

virtual void	setWaitPeriodPolicy (int p)=0

virtual bool	start ()=0

virtual bool	stop ()=0

	ThreadInterface ()

unsigned int	threadNumber () const

virtual void	yield ()=0

virtual	~ThreadInterface ()

Protected Attributes
int	threadnb

Detailed Description

A thread which is being run. The periodicity is the time between the starting of two runs or zero for non periodic threads.

Definition at line 56 of file ThreadInterface.hpp.

Constructor & Destructor Documentation

ThreadInterface::ThreadInterface ( )

Definition at line 45 of file ThreadInterface.cpp.

ThreadInterface::~ThreadInterface ( )

virtual

Definition at line 51 of file ThreadInterface.cpp.

Member Function Documentation

virtual unsigned RTT::os::ThreadInterface::getCpuAffinity ( ) const

pure virtual

Returns: the cpu affinity

Implemented in RTT::os::Thread, RTT::Activity, and RTT::os::MainThread.

virtual int RTT::os::ThreadInterface::getMaxOverrun ( ) const

pure virtual

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual const char* RTT::os::ThreadInterface::getName ( ) const

pure virtual

Read the name of this task

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual Seconds RTT::os::ThreadInterface::getPeriod ( ) const

pure virtual

Get the periodicity in Seconds. Return zero if non periodic.

Implemented in RTT::os::Thread, RTT::extras::FileDescriptorActivity, RTT::Activity, and RTT::os::MainThread.

virtual nsecs RTT::os::ThreadInterface::getPeriodNS ( ) const

pure virtual

Get the periodicity in nanoseconds. Return zero if non periodic.

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual unsigned int RTT::os::ThreadInterface::getPid ( ) const

pure virtual

Returns the Process or Thread ID of this thread, as assigned by the Operating System. This function tries to return the Thread ID, if the OS supports it, otherwise it returns the process ID. If that is not available either, zero is returned. On Linux systems for example, the Thread ID of the main thread is equal to the Process ID. The Thread ID of every newly created thread is different from the Process ID (and unique).

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual int RTT::os::ThreadInterface::getPriority ( ) const

pure virtual

The priority of this Thread.

Returns: The priority given upon construction of this thread or set with setPriority. The returned number has to be interpreted in the current OS scheduler.

See also: setScheduler

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual int RTT::os::ThreadInterface::getScheduler ( ) const

pure virtual

Get the scheduler policy in which this thread runs.

Returns: An OS-specific value which represents the used scheduler.

See also: setScheduler

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual RTOS_TASK* RTT::os::ThreadInterface::getTask ( )

pure virtual

Get the RTOS_TASK pointer.

Note: Using this function leads to non-portable code. It is here for users which wish to tweak OS specific thread settings.

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual const RTOS_TASK* RTT::os::ThreadInterface::getTask ( ) const

pure virtual

const version of the above.

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::isActive ( ) const

pure virtual

Returns whether the thread is active. A thread is active between the invocation of start() and the invocation of stop().

Implemented in RTT::os::Thread, RTT::Activity, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::isRunning ( ) const

pure virtual

Returns whether the thread is running. A thread is running if it is executing its loop() function or in the process of periodically calling step(). Hence for periodic threads, isRunning() == isActive() while for non-periodic threads, isRunning() is only true if isActive() and it is executing loop().

Implemented in RTT::os::Thread, RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::os::MainThread, and RTT::extras::SimulationThread.

bool ThreadInterface::isSelf ( ) const

Definition at line 58 of file ThreadInterface.cpp.

virtual void RTT::os::ThreadInterface::setMaxOverrun ( int m )

pure virtual

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::setPeriod ( Seconds new_period )

pure virtual

Set the periodicity in Seconds.

Parameters

new_period A positive number expressing the period

Returns: true if it was accepted, false otherwise.

Implemented in RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::os::Thread, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::setPriority ( int priority )

pure virtual

Set the priority of this Thread.

Parameters

priority The priority given upon construction of this thread. It has to be interpreted in the current OS scheduler.

See also: setScheduler

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::setScheduler ( int sched_type )

pure virtual

Change the scheduler policy in which this thread runs.

Parameters

sched_type

An OS-specific value which selects a scheduler. Orocos requires that these two values are available:

ORO_SCHED_RT: Hint the OS that this thread should be scheduled as a priority or real-time process.
ORO_SCHED_OTHER: Hint the OS that this thread should not be scheduled as a priority or real-time process.

Your OS can in addition provide other sched_type's which map more naturally to the schedulers present. If your OS does not make a distinction between real-time and other, both values may map to the same scheduler type.

Returns: true if the change could be made.

Implemented in RTT::os::Thread, and RTT::os::MainThread.

virtual void RTT::os::ThreadInterface::setWaitPeriodPolicy ( int p )

pure virtual

Set the wait policy of a periodic thread

Parameters

The	wait policy can be ORO_WAIT_ABS (absolute wait) and ORO_WAIT_REL (relative wait, with respect to current time)

Implemented in RTT::os::Thread, RTT::Activity, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::start ( )

pure virtual

Start the Thread.

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

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

Implemented in RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::os::Thread, RTT::extras::IRQActivity, RTT::extras::SimulationThread, and RTT::os::MainThread.

virtual bool RTT::os::ThreadInterface::stop ( )

pure virtual

Stop the Thread.

Postcondition: The Thread is no longer being run; finalize() is called when the Thread is stopped.

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

Implemented in RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::os::Thread, and RTT::os::MainThread.

unsigned int RTT::os::ThreadInterface::threadNumber ( ) const

inline

The unique thread number (within the same process).

Definition at line 217 of file ThreadInterface.hpp.

virtual void RTT::os::ThreadInterface::yield ( )

pure virtual

Yields (put to the back of the scheduler queue) the calling thread.

Implemented in RTT::os::Thread, and RTT::os::MainThread.

Member Data Documentation

int RTT::os::ThreadInterface::threadnb

protected

Threads are given an unique number, which follows thread creation order.

See also: os::threads

Definition at line 229 of file ThreadInterface.hpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation