#include <MainThread.hpp>

Inheritance diagram for RTT::os::MainThread:

Public Member Functions
virtual unsigned	getCpuAffinity () const

virtual int	getMaxOverrun () const

virtual const char *	getName () const

virtual Seconds	getPeriod () const

virtual nsecs	getPeriodNS () const

virtual unsigned int	getPid () const

virtual int	getPriority () const

virtual int	getScheduler () const

virtual RTOS_TASK *	getTask ()

virtual const RTOS_TASK *	getTask () const

virtual bool	isActive () const

virtual bool	isRunning () const

virtual void	setMaxOverrun (int m)

virtual bool	setPeriod (Seconds period)

virtual bool	setPriority (int priority)

virtual bool	setScheduler (int sched_type)

virtual void	setWaitPeriodPolicy (int p)

virtual bool	start ()

virtual bool	stop ()

unsigned int	threadNumber () const

virtual void	yield ()

virtual	~MainThread ()

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

	ThreadInterface ()

unsigned int	threadNumber () const

virtual	~ThreadInterface ()

Static Public Member Functions
static ThreadInterface *	Instance ()

static void	Release ()

Private Member Functions
	MainThread ()

Private Attributes
RTOS_TASK	main_task

Static Private Attributes
static boost::shared_ptr< ThreadInterface >	mt

Additional Inherited Members
Protected Attributes inherited from RTT::os::ThreadInterface
int	threadnb

Detailed Description

A class which represents the main() thread.

Definition at line 52 of file MainThread.hpp.

Constructor & Destructor Documentation

RTT::os::MainThread::MainThread ( )

private

Definition at line 50 of file MainThread.cpp.

RTT::os::MainThread::~MainThread ( )

virtual

Definition at line 54 of file MainThread.cpp.

Member Function Documentation

unsigned RTT::os::MainThread::getCpuAffinity ( ) const

virtual

Returns: the cpu affinity

Implements RTT::os::ThreadInterface.

Definition at line 114 of file MainThread.cpp.

int RTT::os::MainThread::getMaxOverrun ( ) const

virtual

Implements RTT::os::ThreadInterface.

Definition at line 128 of file MainThread.cpp.

const char * RTT::os::MainThread::getName ( ) const

virtual

Returns "main".

Implements RTT::os::ThreadInterface.

Definition at line 82 of file MainThread.cpp.

Seconds RTT::os::MainThread::getPeriod ( ) const

virtual

Returns zero.

Implements RTT::os::ThreadInterface.

Definition at line 75 of file MainThread.cpp.

nsecs RTT::os::MainThread::getPeriodNS ( ) const

virtual

Returns zero.

Implements RTT::os::ThreadInterface.

Definition at line 77 of file MainThread.cpp.

unsigned int RTT::os::MainThread::getPid ( ) const

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).

Implements RTT::os::ThreadInterface.

Definition at line 109 of file MainThread.cpp.

int RTT::os::MainThread::getPriority ( ) const

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

Implements RTT::os::ThreadInterface.

Definition at line 104 of file MainThread.cpp.

int RTT::os::MainThread::getScheduler ( ) const

virtual

Get the scheduler policy in which this thread runs.

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

See also: setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 94 of file MainThread.cpp.

RTOS_TASK * RTT::os::MainThread::getTask ( )

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.

Implements RTT::os::ThreadInterface.

Definition at line 84 of file MainThread.cpp.

const RTOS_TASK * RTT::os::MainThread::getTask ( ) const

virtual

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 86 of file MainThread.cpp.

ThreadInterface * RTT::os::MainThread::Instance ( )

static

Return an object which represents the main thread. Only after this call, OS calls may be done.

Definition at line 58 of file MainThread.cpp.

bool RTT::os::MainThread::isActive ( ) const

virtual

Returns always true.

Implements RTT::os::ThreadInterface.

Definition at line 80 of file MainThread.cpp.

bool RTT::os::MainThread::isRunning ( ) const

virtual

Returns always true.

Implements RTT::os::ThreadInterface.

Definition at line 79 of file MainThread.cpp.

void RTT::os::MainThread::Release ( )

static

This is called to cleanup the main thread. After this call, no OS calls may be done.

Definition at line 66 of file MainThread.cpp.

void RTT::os::MainThread::setMaxOverrun ( int m )

virtual

Implements RTT::os::ThreadInterface.

Definition at line 124 of file MainThread.cpp.

bool RTT::os::MainThread::setPeriod ( Seconds period )

virtual

Returns always false.

Implements RTT::os::ThreadInterface.

Definition at line 119 of file MainThread.cpp.

bool RTT::os::MainThread::setPriority ( int priority )

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

Implements RTT::os::ThreadInterface.

Definition at line 99 of file MainThread.cpp.

bool RTT::os::MainThread::setScheduler ( int sched_type )

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.

Implements RTT::os::ThreadInterface.

Definition at line 88 of file MainThread.cpp.

void RTT::os::MainThread::setWaitPeriodPolicy ( int p )

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)

Implements RTT::os::ThreadInterface.

Definition at line 133 of file MainThread.cpp.

bool RTT::os::MainThread::start ( )

virtual

Always fails.

Implements RTT::os::ThreadInterface.

Definition at line 71 of file MainThread.cpp.

bool RTT::os::MainThread::stop ( )

virtual

Always fails.

Implements RTT::os::ThreadInterface.

Definition at line 73 of file MainThread.cpp.

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

Returns zero, the number of the main() thread.

Definition at line 143 of file MainThread.cpp.

void RTT::os::MainThread::yield ( )

virtual

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

Implements RTT::os::ThreadInterface.

Definition at line 138 of file MainThread.cpp.

Member Data Documentation

RTOS_TASK RTT::os::MainThread::main_task

private

Definition at line 61 of file MainThread.hpp.

boost::shared_ptr< ThreadInterface > RTT::os::MainThread::mt

staticprivate

We use a shared_ptr such that under exception conditions, the program is still cleaned up.

Definition at line 60 of file MainThread.hpp.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation