#include <TimerThread.hpp>

Inheritance diagram for RTT::extras::TimerThread:

Public Member Functions
bool	addActivity (PeriodicActivity *t)

bool	removeActivity (PeriodicActivity *t)

	TimerThread (int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)

	TimerThread (int scheduler, int priority, const std::string &name, double periodicity, unsigned cpu_affinity=~0)

virtual	~TimerThread ()

Public Member Functions inherited from RTT::os::Thread
virtual unsigned	getCpuAffinity () const

virtual int	getMaxOverrun () const

virtual const char *	getName () const

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

virtual Seconds	getPeriod () const

virtual nsecs	getPeriodNS () const

virtual unsigned int	getPid () const

virtual int	getPriority () const

virtual int	getScheduler () const

Seconds	getStopTimeout () const

virtual RTOS_TASK *	getTask ()

virtual const RTOS_TASK *	getTask () const

virtual bool	isActive () const

virtual bool	isPeriodic () const

virtual bool	isRunning () const

virtual bool	setCpuAffinity (unsigned cpu_affinity)

virtual void	setMaxOverrun (int m)

bool	setPeriod (Seconds s)

bool	setPeriod (secs s, nsecs ns)

bool	setPeriod (TIME_SPEC p)

virtual bool	setPriority (int priority)

virtual bool	setScheduler (int sched_type)

void	setStopTimeout (Seconds s)

virtual void	setWaitPeriodPolicy (int p)

virtual bool	start ()

virtual bool	stop ()

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

virtual void	yield ()

virtual	~Thread ()

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

	ThreadInterface ()

unsigned int	threadNumber () const

virtual	~ThreadInterface ()

Static Public Member Functions
static TimerThreadPtr	Instance (int priority, double periodicity)

static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity)

static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity, unsigned cpu_affinity)

Static Public Member Functions inherited from RTT::os::Thread
static void	setLockTimeoutNoPeriod (double timeout_in_s)

static void	setLockTimeoutPeriodFactor (double factor)

static void	setStackSize (unsigned int ssize)

Static Public Attributes
static const unsigned int	MAX_ACTIVITIES = 64

Protected Types
typedef std::vector< boost::weak_ptr< TimerThread > >	TimerThreadList

Protected Member Functions
virtual void	finalize ()

virtual bool	initialize ()

void	reorderList ()

virtual void	step ()

Protected Member Functions inherited from RTT::os::Thread
virtual bool	breakLoop ()

void	emergencyStop ()

virtual void	loop ()

void	terminate ()

Protected Attributes
os::MutexRecursive	mutex

Protected Attributes inherited from RTT::os::Thread
bool	active

MutexRecursive	breaker

bool	inloop

int	maxOverRun

int	msched_type

NANO_TIME	period

bool	prepareForExit

RTOS_TASK	rtos_task

bool	running

rt_sem_t	sem

double	stopTimeout

Protected Attributes inherited from RTT::os::ThreadInterface
int	threadnb

Static Protected Attributes
static TimerThreadList	TimerThreads

Static Protected Attributes inherited from RTT::os::Thread
static unsigned int	default_stack_size = 0

static double	lock_timeout_no_period_in_s = 1.0

static double	lock_timeout_period_factor = 10.0

Private Types
typedef std::vector< PeriodicActivity * >	ActivityList

Private Attributes
bool	cleanup

ActivityList	tasks

Detailed Description

This Periodic Thread is meant for executing a PeriodicActivity object periodically.

See also: PeriodicActivity

Definition at line 69 of file TimerThread.hpp.

Member Typedef Documentation

typedef std::vector<PeriodicActivity*> RTT::extras::TimerThread::ActivityList

private

Definition at line 72 of file TimerThread.hpp.

typedef std::vector< boost::weak_ptr<TimerThread> > RTT::extras::TimerThread::TimerThreadList

protected

A Boost weak pointer is used to store non-owning pointers to shared objects.

Definition at line 140 of file TimerThread.hpp.

Constructor & Destructor Documentation

RTT::TimerThread::TimerThread	(	int	priority,
		const std::string &	name,
		double	periodicity,
		unsigned	cpu_affinity = `~0`
	)

Create a periodic Timer thread.

Parameters

priority	The priority of this thread
periodicity	The periodicity of this thread in seconds (e.g. 0.001 = 1000Hz )

Definition at line 95 of file TimerThread.cpp.

RTT::TimerThread::TimerThread	(	int	scheduler,
		int	priority,
		const std::string &	name,
		double	periodicity,
		unsigned	cpu_affinity = `~0`
	)

Create a periodic Timer thread with a given scheduler type.

Parameters

scheduler	The scheduler in which this thread runs
priority	The priority of this thread within scheduler
periodicity	The periodicity of this thread in seconds (e.g. 0.001 = 1000Hz )

Definition at line 101 of file TimerThread.cpp.

RTT::TimerThread::~TimerThread ( )

virtual

Destructor

Definition at line 107 of file TimerThread.cpp.

Member Function Documentation

bool RTT::TimerThread::addActivity ( PeriodicActivity * t )

Add an Timer that will be ticked every execution period Once added, a timer can not be removed.

Definition at line 113 of file TimerThread.cpp.

void RTT::TimerThread::finalize ( )

protectedvirtual

See also: base::RunnableInterface::finalize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 140 of file TimerThread.cpp.

bool RTT::TimerThread::initialize ( )

protectedvirtual

See also: base::RunnableInterface::initialize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 136 of file TimerThread.cpp.

TimerThreadPtr RTT::TimerThread::Instance	(	int	priority,
		double	periodicity
	)

static

Create a TimerThread with a given priority and periodicity, using the default scheduler, ORO_SCHED_RT.

Definition at line 57 of file TimerThread.cpp.

TimerThreadPtr RTT::TimerThread::Instance	(	int	scheduler,
		int	priority,
		double	periodicity
	)

static

Create a TimerThread with a given scheduler, priority and periodicity.

Definition at line 62 of file TimerThread.cpp.

TimerThreadPtr RTT::TimerThread::Instance	(	int	scheduler,
		int	priority,
		double	periodicity,
		unsigned	cpu_affinity
	)

static

Create a TimerThread with a given scheduler, priority and periodicity.

Definition at line 67 of file TimerThread.cpp.

bool RTT::TimerThread::removeActivity ( PeriodicActivity * t )

Definition at line 124 of file TimerThread.cpp.

void RTT::TimerThread::reorderList ( )

protected

Definition at line 166 of file TimerThread.cpp.

void RTT::TimerThread::step ( )

protectedvirtual

See also: base::RunnableInterface::step()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::SimulationThread.

Definition at line 150 of file TimerThread.cpp.

Member Data Documentation

bool RTT::extras::TimerThread::cleanup

private

Definition at line 74 of file TimerThread.hpp.

const unsigned int RTT::extras::TimerThread::MAX_ACTIVITIES = 64

static

Definition at line 76 of file TimerThread.hpp.

os::MutexRecursive RTT::extras::TimerThread::mutex

mutableprotected

A Activity can not create a activity of same priority from step(). If so a deadlock will occur.

Definition at line 134 of file TimerThread.hpp.

ActivityList RTT::extras::TimerThread::tasks

private

Definition at line 73 of file TimerThread.hpp.

TimerThread::TimerThreadList RTT::TimerThread::TimerThreads

staticprotected

All timer threads.

Definition at line 145 of file TimerThread.hpp.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation