RTPreemptEC クラス More...
#include <RTPreemptEC.h>
Inheritance diagram for OpenRTM::RTPreemptEC:
Public Member Functions | |
| template<class T > | |
| void | getProperty (coil::Properties &prop, const char *key, T &value) |
| Thread execution function for ExecutionContext. More... | |
| RTPreemptEC () | |
| Default Constructor. More... | |
| virtual int | svc (void) |
| Thread execution function for ExecutionContext. More... | |
| virtual | ~RTPreemptEC () |
| Destructor. More... | |
 Public Member Functions inherited from RTC::PeriodicExecutionContext | |
| virtual ReturnCode_t | activate_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException) |
| Activate an RT-component. More... | |
| virtual ReturnCode_t | add_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException) |
| Add an RT-component. More... | |
| virtual RTC::ReturnCode_t | bindComponent (RTObject_impl *rtc) |
| Bind the component. More... | |
| virtual int | close (unsigned long flags) |
| Thread execution function for ExecutionContext. More... | |
| virtual ReturnCode_t | deactivate_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException) |
| Deactivate an RT-component. More... | |
| virtual LifeCycleState | get_component_state (LightweightRTObject_ptr comp) throw (CORBA::SystemException) |
| Get RT-component's state. More... | |
| virtual ExecutionKind | get_kind (void) throw (CORBA::SystemException) |
| Get the ExecutionKind. More... | |
| virtual ExecutionContextProfile * | get_profile (void) throw (CORBA::SystemException) |
| Get the ExecutionContextProfile. More... | |
| virtual CORBA::Double | get_rate (void) throw (CORBA::SystemException) |
| Get execution rate(Hz) of ExecutionContext. More... | |
| virtual ExecutionContextService_ptr | getObjRef (void) |
| Get the reference to the CORBA object. More... | |
| virtual CORBA::Boolean | is_running (void) throw (CORBA::SystemException) |
| Check for ExecutionContext running state. More... | |
| virtual int | open (void *args) |
| Generate internal activity thread for ExecutionContext. More... | |
| PeriodicExecutionContext () | |
| Default Constructor. More... | |
| PeriodicExecutionContext (OpenRTM::DataFlowComponent_ptr owner, double rate=1000.0) | |
| Constructor. More... | |
| virtual ReturnCode_t | remove_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException) |
| Remove the RT-Component from participant list. More... | |
| virtual ReturnCode_t | reset_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException) |
| Reset the RT-component. More... | |
| virtual ReturnCode_t | set_rate (CORBA::Double rate) throw (CORBA::SystemException) |
| Set execution rate(Hz) of ExecutionContext. More... | |
| virtual ReturnCode_t | start (void) throw (CORBA::SystemException) |
| Start the ExecutionContext. More... | |
| virtual ReturnCode_t | stop (void) throw (CORBA::SystemException) |
| Stop the ExecutionContext. More... | |
| virtual | ~PeriodicExecutionContext (void) |
| Destructor. More... | |
| Public Member Functions inherited from RTC::ExecutionContextBase | |
| virtual void | tick () throw (CORBA::SystemException) |
| Proceed with tick of ExecutionContext. More... | |
| virtual | ~ExecutionContextBase (void) |
| Virtual Destructor. More... | |
| Public Member Functions inherited from coil::Task | |
| virtual void | activate () |
| Create a thread. More... | |
| virtual void | activate () |
| Create a thread. More... | |
| virtual void | finalize () |
| Finalizing the task. More... | |
| virtual void | finalize () |
| Finalizing the task. More... | |
| virtual void | reset () |
| Reset of task count. More... | |
| virtual void | reset () |
| Reset of task count. More... | |
| virtual int | resume (void) |
| Resuming the suspended task. More... | |
| virtual int | resume (void) |
| Resuming the suspended task. More... | |
| virtual int | suspend (void) |
| Suspending the task. More... | |
| virtual int | suspend (void) |
| Suspending the task. More... | |
| Task () | |
| Constructor. More... | |
| Task () | |
| Constructor. More... | |
| virtual int | wait (void) |
| Waiting for the thread terminate. More... | |
| virtual int | wait (void) |
| Waiting for the thread terminate. More... | |
| virtual | ~Task () |
| Destructor. More... | |
| virtual | ~Task () |
| Destructor. More... | |
Private Attributes | |
| int | m_policy |
| int | m_priority |
| int | m_waitoffset |
Additional Inherited Members | |
| Static Public Member Functions inherited from coil::Task | |
| static void * | svc_run (void *args=0) |
| Start thread Execution. More... | |
| static unsigned int WINAPI | svc_run (void *args=0) |
| Start thread Execution. More... | |
| Protected Types inherited from RTC::PeriodicExecutionContext | |
| typedef std::vector< Comp >::iterator | CompItr |
| typedef RTC_Utils::StateHolder< ExecContextState > | ECStates |
| typedef LifeCycleState | ExecContextState |
| Protected Attributes inherited from RTC::PeriodicExecutionContext | |
| std::vector< Comp > | m_comps |
| List of the participating component. More... | |
| bool | m_nowait |
| Flag of ExecutionContext to run immediately (to run without waiting) More... | |
| coil::TimeValue | m_period |
| Execution cycle of ExecutionContext. More... | |
| ExecutionContextProfile | m_profile |
| ExecutionContextProfile. More... | |
| coil::Mutex | m_profileMutex |
| ExecutionContextService_var | m_ref |
| Reference to ExecutionContextService object. More... | |
| bool | m_running |
| The running state of ExecutionContext true: running, false: stopped. More... | |
| bool | m_svc |
| The thread running flag of ExecutionContext. More... | |
| Worker | m_worker |
| A condition variable for external triggered worker. More... | |
| Logger | rtclog |
| Logger stream. More... | |
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.
- exec_cxt.periodic.priority: (default: 49)
- exec_cxt.periodic.rtpreempt.priority: (default: 49)
Execution priority of threads from 1 (lowest) to 99 (highest)
See Linux sched_setscheduler(2). - exec_cxt.periodic.rtpreempt.sched_policy: (default: fifo)
Scheduling policy.
rr: round-robin, fifo: FIFO type scheduling (default: fifo)
See Linux sched_setscheduler(2). - exec_cxt.periodic.rtpreempt.wait_offset: (default: -10000)
Offset time of wait. It can be given [ns] unit.
Adjusting this value, If dozens micro seconds delay in one execution cycle constantly, more accurate periodic execution can be achieved.
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
◆ RTPreemptEC()
| OpenRTM::RTPreemptEC::RTPreemptEC | ( | ) |
◆ ~RTPreemptEC()
|
virtual |
Member Function Documentation
◆ getProperty()
template<class T >
|
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.
◆ svc()
|
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
◆ m_policy
|
private |
Definition at line 215 of file RTPreemptEC.h.
◆ m_priority
|
private |
Definition at line 214 of file RTPreemptEC.h.
◆ m_waitoffset
|
private |
Definition at line 216 of file RTPreemptEC.h.
The documentation for this class was generated from the following files: