Thread.hpp

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/***************************************************************************
  tag: Peter Soetens  Mon Jun 10 14:43:13 CEST 2002  Thread.hpp

                        Thread.hpp -  description
                           -------------------
    begin                : Mon June 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/

#ifndef ORO_THREAD_HPP
#define ORO_THREAD_HPP

// Our own package config headers.
#include "../rtt-config.h"
#include "fosi.h"

#include "ThreadInterface.hpp"
#include "Mutex.hpp"

#include <string>

namespace RTT
{

    namespace os
    {
        class RTT_API Thread: public ThreadInterface
        {
            friend void* thread_function(void* t);

        public:

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

            virtual ~Thread();

            static void setStackSize(unsigned int ssize);

            static void setLockTimeoutNoPeriod(double timeout_in_s);

            static void setLockTimeoutPeriodFactor(double factor);


            virtual bool start();

            virtual bool stop();

            void setStopTimeout(Seconds s);

            Seconds getStopTimeout() const;

            bool setPeriod(Seconds s);

            bool setPeriod(secs s, nsecs ns);

            bool setPeriod(TIME_SPEC p);

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

            virtual Seconds getPeriod() const;

            virtual nsecs getPeriodNS() const;

            virtual bool isPeriodic() const;

            virtual bool isRunning() const;

            virtual bool isActive() const;

            virtual const char* getName() const;

            virtual RTOS_TASK * getTask()
            {
                return &rtos_task;
            }

            virtual const RTOS_TASK * getTask() const
            {
                return &rtos_task;
            }

            virtual bool setScheduler(int sched_type);

            virtual int getScheduler() const;

            virtual bool setPriority(int priority);

            virtual int getPriority() const;

            virtual unsigned int getPid() const;
            virtual bool setCpuAffinity(unsigned cpu_affinity);

            virtual unsigned getCpuAffinity() const;

            virtual void yield();

            virtual void setMaxOverrun(int m);

            virtual int getMaxOverrun() const;

            virtual void setWaitPeriodPolicy(int p);

        protected:
            void terminate();

            void emergencyStop();

            virtual void step();

            virtual void loop();

            virtual bool breakLoop();

            virtual bool initialize();

            virtual void finalize();
        private:
            Thread(const Thread&);

            void setup(int _priority, unsigned cpu_affinity, const std::string& name);

            void configure();

            static unsigned int default_stack_size;

            static double lock_timeout_no_period_in_s;

            static double lock_timeout_period_factor;

            int msched_type;

            bool active;

            bool prepareForExit;

            bool inloop;

            bool running;

            RTOS_TASK rtos_task;

            rt_sem_t sem;

            MutexRecursive breaker;

            int maxOverRun;

            NANO_TIME period;

            double stopTimeout;

#ifdef OROPKG_OS_THREAD_SCOPE
            // Pointer to Threadscope device
            dev::DigitalOutInterface * d;
#endif
        };

    }
}

#endif