OpenRTM::RTPreemptEC Class Reference

RTPreemptEC ¥¯¥é¥¹ More...

#include <RTPreemptEC.h>

Inheritance diagram for OpenRTM::RTPreemptEC:

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

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Detailed Description

RTPreemptEC ¥¯¥é¥¹

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.

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Constructor & Destructor Documentation

OpenRTM::RTPreemptEC::RTPreemptEC

(

)

Default Constructor.

Default Constructor

Definition at line 41 of file RTPreemptEC.cpp.

OpenRTM::RTPreemptEC::~RTPreemptEC

(

)

[virtual]

Destructor.

Destructor

Definition at line 83 of file RTPreemptEC.cpp.

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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.

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Member Data Documentation

int OpenRTM::RTPreemptEC::m_policy [private]

Definition at line 215 of file RTPreemptEC.h.

int OpenRTM::RTPreemptEC::m_priority [private]

Definition at line 214 of file RTPreemptEC.h.

int OpenRTM::RTPreemptEC::m_waitoffset [private]

Definition at line 216 of file RTPreemptEC.h.

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

• RTPreemptEC.h
• RTPreemptEC.cpp