TimerThread.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Wed Apr 17 16:01:36 CEST 2002 TimerThread.h
3 
4  TimerThread.h - description
5  -------------------
6  begin : Wed April 17 2002
7  copyright : (C) 2002 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
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37 
38 
39 #ifndef ORO_TIMERTHREAD_HPP
40 #define ORO_TIMERTHREAD_HPP
41 
42 
43 #include <list>
44 #include <vector>
45 #include <string>
46 #include <boost/shared_ptr.hpp>
47 #include <boost/weak_ptr.hpp>
48 
49 #include "../os/Thread.hpp"
50 #include "../os/Mutex.hpp"
51 #include "rtt-extras-fwd.hpp"
52 
53 namespace RTT
54 { namespace extras {
55 
61  typedef boost::shared_ptr<TimerThread> TimerThreadPtr;
62 
69  class RTT_API TimerThread
70  : public os::Thread
71  {
72  typedef std::vector<PeriodicActivity*> ActivityList ;
73  ActivityList tasks;
74  bool cleanup;
75  public:
76  static const unsigned int MAX_ACTIVITIES = 64;
85  TimerThread(int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);
86 
97  TimerThread(int scheduler, int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);
98 
102  virtual ~TimerThread();
103 
108  bool addActivity( PeriodicActivity* t );
109 
110  bool removeActivity( PeriodicActivity* t );
111 
116  static TimerThreadPtr Instance(int priority, double periodicity);
120  static TimerThreadPtr Instance(int scheduler, int priority, double periodicity);
124  static TimerThreadPtr Instance(int scheduler, int priority, double periodicity, unsigned cpu_affinity);
125  protected:
126  virtual bool initialize();
127  virtual void step();
128  virtual void finalize();
129  void reorderList();
135 
140  typedef std::vector< boost::weak_ptr<TimerThread> > TimerThreadList;
141 
145  static TimerThreadList TimerThreads;
146  };
147 }} // namespace RTT
148 
149 #endif
std::vector< boost::weak_ptr< TimerThread > > TimerThreadList
os::MutexRecursive mutex
std::vector< PeriodicActivity * > ActivityList
Definition: TimerThread.hpp:72
boost::shared_ptr< TimerThread > TimerThreadPtr
Definition: TimerThread.hpp:61
static TimerThreadList TimerThreads
A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constrai...
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:53
An object oriented wrapper around a recursive mutex.
Definition: Mutex.hpp:218


rtt
Author(s): RTT Developers
autogenerated on Fri Oct 25 2019 03:59:44