An activity which is triggered by an IRQ edge. More...

#include <rtt/extras/IRQActivity.hpp>

Inheritance diagram for RTT::extras::IRQActivity:

Classes
struct	Provider
	If this interface is derived from one of the TaskContext objects which are executed by this activity, then the activity can auto-configure itself (i.e. More...

Public Types
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Public Member Functions
	IRQActivity (int priority, base::RunnableInterface *_r=0, const std::string &name="IRQActivity")
	Create a IRQActivity with a given priority and base::RunnableInterface instance. More...

	IRQActivity (int scheduler, int priority, base::RunnableInterface *_r=0, const std::string &name="IRQActivity")
	Create a IRQActivity with a given scheduler type, priority and base::RunnableInterface instance. More...

virtual	~IRQActivity ()

int	getIRQ () const

void	setIRQ (int irq)

virtual bool	start ()
	Start the activity. More...

virtual bool	execute ()
	Execute this activity such that it executes a step or loop of the RunnableInterface. More...

virtual bool	trigger ()
	Trigger that work has to be done. More...

virtual bool	stop ()
	Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop(). More...

virtual bool	isRunning () const
	Query if the activity is initialized and executing. More...

virtual bool	isActive () const
	Query if the activity is started. More...

virtual bool	isPeriodic () const
	Inspect if this activity is periodic. More...

virtual Seconds	getPeriod () const
	Get the periodicity of this activity in Seconds. More...

void	getPeriod (secs &s, nsecs &ns) const
	Get the periodicity of this thread (seconds, nanoseconds) More...

virtual bool	setPeriod (Seconds period)
	Set the periodicity of this activity in Seconds. More...

bool	setPeriod (secs s, nsecs ns)
	Set the periodicity of this thread (seconds, nanoseconds) More...

bool	setPeriod (TIME_SPEC p)
	Set the periodicity of this thread. More...

virtual unsigned	getCpuAffinity () const
	Get the cpu affinity of this activity. More...

virtual bool	setCpuAffinity (unsigned cpu)
	Set the cpu affinity of this activity. More...

virtual os::ThreadInterface *	thread ()
	Returns a pointer to the thread which will run this activity. More...

virtual bool	initialize ()

virtual void	step ()

virtual void	loop ()

virtual bool	breakLoop ()

virtual void	finalize ()

virtual bool	run (RunnableInterface *r)
	Run exclusively this RunnableInterface. More...

virtual RunnableInterface *	getRunner () const
	Returns a pointer to the RunnableInterface instance. More...

void	setStopTimeout (Seconds s)
	Sets the timeout for stop(), in seconds. More...

Seconds	getStopTimeout () const
	Returns the desired timeout for stop(), in seconds. More...

virtual nsecs	getPeriodNS () const
	Get the periodicity in nanoseconds. More...

virtual const char *	getName () const
	Read the name of this task. More...

virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer. More...

virtual const RTOS_TASK *	getTask () const
	const version of the above. More...

virtual bool	setScheduler (int sched_type)
	Change the scheduler policy in which this thread runs. More...

virtual int	getScheduler () const
	Get the scheduler policy in which this thread runs. More...

virtual bool	setPriority (int priority)
	Set the priority of this Thread. More...

virtual int	getPriority () const
	The priority of this Thread. More...

virtual unsigned int	getPid () const
	Returns the Process or Thread ID of this thread, as assigned by the Operating System. More...

virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread. More...

virtual void	setMaxOverrun (int m)

virtual int	getMaxOverrun () const

virtual void	setWaitPeriodPolicy (int p)
	Set the wait policy of a periodic thread. More...

unsigned int	threadNumber () const
	The unique thread number (within the same process). More...

bool	isSelf () const

Static Public Member Functions
static void	setStackSize (unsigned int ssize)
	Sets the stack size of the threads to be created. More...

static void	setLockTimeoutNoPeriod (double timeout_in_s)
	Sets the lock timeout for a thread which does not have a period The default is 1 second. More...

static void	setLockTimeoutPeriodFactor (double factor)
	Set the lock timeout for a thread which has a period by a factor of the period The default is factor 10. More...

Protected Member Functions
void	disableRun (RunnableInterface *caller)
	This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used. More...

void	terminate ()
	Exit and destroy the thread. More...

void	emergencyStop ()

Protected Attributes
RunnableInterface *	runner

int	threadnb
	Threads are given an unique number, which follows thread creation order. More...

Detailed Description

An activity which is triggered by an IRQ edge.

This activity is only available on xenomai

The IRQ line can be given by two means:

setIRQ is called
one of the underlying task contexts (if any) provides the Provider interface. In that case, the getIRQ() method of that task context is called to get the descriptor

Definition at line 73 of file IRQActivity.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<ActivityInterface> RTT::base::ActivityInterface::shared_ptr

inherited

Examples:: /home/jenkins/workspace/rtt-doc/rtt/TaskContext.hpp.

Definition at line 77 of file ActivityInterface.hpp.

Constructor & Destructor Documentation

IRQActivity::IRQActivity	(	int	priority,
		base::RunnableInterface *	_r = `0`,
		const std::string &	name = `"IRQActivity"`
	)

Create a IRQActivity with a given priority and base::RunnableInterface instance.

The default scheduler for IRQActivity objects is ORO_SCHED_RT.

Parameters

priority	The priority of the underlying thread.
_r	The optional runner, if none, this->loop() is called.

Definition at line 50 of file IRQActivity.cpp.

IRQActivity::IRQActivity	(	int	scheduler,
		int	priority,
		base::RunnableInterface *	_r = `0`,
		const std::string &	name = `"IRQActivity"`
	)

Create a IRQActivity with a given scheduler type, priority and base::RunnableInterface instance.

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of the underlying thread.
_r	The optional runner, if none, this->loop() is called.

Definition at line 55 of file IRQActivity.cpp.

IRQActivity::~IRQActivity ( )

virtual

Definition at line 60 of file IRQActivity.cpp.

References RTT::Activity::stop().

Member Function Documentation

bool RTT::Activity::breakLoop ( )

virtualinherited

See also: base::RunnableInterface::breakLoop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::mqueue::Dispatcher, and RTT::corba::CorbaDispatcher.

Definition at line 112 of file Activity.cpp.

References RTT::base::RunnableInterface::breakLoop(), and RTT::base::ActivityInterface::runner.

Referenced by start().

void RTT::base::ActivityInterface::disableRun ( RunnableInterface * caller )

inlineprotectedinherited

This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used.

run(0) can not be used in this case because it would recurse.

Definition at line 73 of file ActivityInterface.hpp.

Referenced by RTT::base::RunnableInterface::setActivity(), and RTT::base::RunnableInterface::~RunnableInterface().

void RTT::os::Thread::emergencyStop ( )

protectedinherited

Definition at line 226 of file Thread.cpp.

References RTT::os::Thread::finalize().

Referenced by RTT::os::thread_function().

bool RTT::Activity::execute ( )

virtualinherited

Execute this activity such that it executes a step or loop of the RunnableInterface.

When you invoke execute() you intend to call the step() or loop() methods. Some activity implementations allow a user controlled execute, others ignore it, in which case execute() returns false.

Semantics: If execute() returns true, the activity has been executed exactly once during execute().

Return values

true	When this->isActive() and the implementation allows external executes.
false	When !this->isActive() or the implementation does not allow external updating.

See also: trigger() for use in callbacks which want execute() to be executed.

Implements RTT::base::ActivityInterface.

Definition at line 136 of file Activity.cpp.

void RTT::Activity::finalize ( )

virtualinherited

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner.

Definition at line 118 of file Activity.cpp.

References RTT::base::RunnableInterface::finalize(), and RTT::base::ActivityInterface::runner.

unsigned RTT::Activity::getCpuAffinity ( ) const

virtualinherited

Get the cpu affinity of this activity.

Returns: The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 163 of file Activity.cpp.

References RTT::os::Thread::getCpuAffinity().

int IRQActivity::getIRQ ( ) const

Definition at line 65 of file IRQActivity.cpp.

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

virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 642 of file Thread.cpp.

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

virtualinherited

Read the name of this task.

Implements RTT::os::ThreadInterface.

Definition at line 632 of file Thread.cpp.

References RTT::os::rtos_task_get_name().

Referenced by RTT::corba::CorbaDispatcher::initialize(), RTT::extras::SimulationThread::SimulationThread(), RTT::os::Thread::stop(), RTT::os::Thread::Thread(), RTT::os::thread_function(), and RTT::os::Thread::~Thread().

Seconds RTT::Activity::getPeriod ( ) const

virtualinherited

Get the periodicity of this activity in Seconds.

Returns: The execution period of this activity (zero if !this->isPeriodic() ).

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 148 of file Activity.cpp.

References RTT::os::Thread::getPeriod().

void RTT::os::Thread::getPeriod	(	secs &	s,
		nsecs &	ns
	)		const

inherited

Get the periodicity of this thread (seconds, nanoseconds)

Definition at line 570 of file Thread.cpp.

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

virtualinherited

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 596 of file Thread.cpp.

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

virtualinherited

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 611 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

Referenced by RTT::os::Thread::Thread().

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

virtualinherited

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 586 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

Referenced by RTT::extras::SimulationThread::SimulationThread(), and RTT::os::Thread::Thread().

RunnableInterface * ActivityInterface::getRunner ( ) const

virtualinherited

Returns a pointer to the RunnableInterface instance.

Definition at line 70 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::runner.

Referenced by RTT::ExecutionEngine::setActivity().

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

virtualinherited

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 488 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler(), RTT::os::rtos_task_set_period(), and RTT::os::rtos_task_set_scheduler().

Referenced by RTT::os::Thread::setScheduler(), and RTT::os::Thread::Thread().

Seconds RTT::os::Thread::getStopTimeout ( ) const

inherited

Returns the desired timeout for stop(), in seconds.

If not set with setStopTimeout, the timeout is deduced from the global values lock_timeout_period_factor and lock_timeout_no_period_in_s

Definition at line 408 of file Thread.cpp.

References RTT::os::Thread::getPeriod().

Referenced by RTT::os::Thread::stop().

virtual RTOS_TASK* RTT::os::Thread::getTask ( )

inlinevirtualinherited

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 205 of file Thread.hpp.

Referenced by RTT::os::thread_function().

virtual const RTOS_TASK* RTT::os::Thread::getTask ( ) const

inlinevirtualinherited

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 210 of file Thread.hpp.

bool RTT::Activity::initialize ( )

virtualinherited

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 94 of file Activity.cpp.

References RTT::base::RunnableInterface::initialize(), and RTT::base::ActivityInterface::runner.

bool RTT::Activity::isActive ( ) const

virtualinherited

Query if the activity is started.

This is less strict than isRunning(), it is true during initialize(), step() or loop() and finalize(). Use this method to check if an activity was start()ed.

Returns: true if it is active, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 144 of file Activity.cpp.

References RTT::os::Thread::isActive().

Referenced by RTT::extras::FileDescriptorActivity::start(), and RTT::extras::FileDescriptorActivity::trigger().

bool RTT::Activity::isPeriodic ( ) const

virtualinherited

Inspect if this activity is periodic.

If so, it will call RunnableInterface::step(). If the activity is not periodic, it will call RunnableInterface::loop().

Returns: true if periodic.

Implements RTT::base::ActivityInterface.

Definition at line 159 of file Activity.cpp.

References RTT::os::Thread::isPeriodic().

bool RTT::Activity::isRunning ( ) const

virtualinherited

Query if the activity is initialized and executing.

This is more strict than isActive(), it is only true after initialize() is executed and before finalize() is executed. More-over, an Activity may decide to be temporarily not running (not executing code), waiting for a signal to proceed. If this->isActive() and !this->isRunning() then the Activity is in a waiting state.

Returns: true if it is running, false otherwise

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 140 of file Activity.cpp.

References RTT::os::Thread::isRunning().

Referenced by RTT::extras::FileDescriptorActivity::isRunning().

bool ThreadInterface::isSelf ( ) const

inherited

Definition at line 58 of file ThreadInterface.cpp.

References RTT::os::ThreadInterface::getTask(), and RTT::os::rtos_task_is_self().

void RTT::Activity::loop ( )

virtualinherited

See also: base::RunnableInterface::loop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 105 of file Activity.cpp.

References RTT::base::RunnableInterface::loop(), RTT::base::ActivityInterface::runner, and RTT::Activity::step().

Referenced by start().

bool ActivityInterface::run ( RunnableInterface * r )

virtualinherited

Run exclusively this RunnableInterface.

Precondition: this->isRunning() == false

Parameters

r	The RunnableInterface to run exclusively.

Returns: true if succeeded, false otherwise

Definition at line 57 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::isActive(), RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::setActivity().

Referenced by RTT::TaskContext::setActivity().

bool RTT::Activity::setCpuAffinity ( unsigned cpu )

virtualinherited

Set the cpu affinity of this activity.

Returns: true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Definition at line 168 of file Activity.cpp.

References RTT::os::Thread::setCpuAffinity().

void IRQActivity::setIRQ ( int irq )

Definition at line 66 of file IRQActivity.cpp.

void RTT::os::Thread::setLockTimeoutNoPeriod ( double timeout_in_s )

staticinherited

Sets the lock timeout for a thread which does not have a period The default is 1 second.

Parameters

timeout_in_s the timeout is seconds

Definition at line 71 of file Thread.cpp.

void RTT::os::Thread::setLockTimeoutPeriodFactor ( double factor )

staticinherited

Set the lock timeout for a thread which has a period by a factor of the period The default is factor 10.

Parameters

factor Factor of the period

Definition at line 73 of file Thread.cpp.

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

virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 637 of file Thread.cpp.

bool RTT::Activity::setPeriod ( Seconds s )

virtualinherited

Set the periodicity of this activity in Seconds.

Note that not all activity implementation support periods. A period of s == 0 indicates non periodic. A non supported setting returns false.

Returns: true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 153 of file Activity.cpp.

References RTT::os::Thread::setPeriod().

bool RTT::os::Thread::setPeriod	(	secs	s,
		nsecs	ns
	)

inherited

Set the periodicity of this thread (seconds, nanoseconds)

Definition at line 542 of file Thread.cpp.

References rtos_sem_signal(), and RTT::os::rtos_task_make_periodic().

bool RTT::os::Thread::setPeriod ( TIME_SPEC p )

inherited

Set the periodicity of this thread.

Definition at line 565 of file Thread.cpp.

References RTT::os::Thread::setPeriod().

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

virtualinherited

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 576 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

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

virtualinherited

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 469 of file Thread.cpp.

References RTT::os::CheckScheduler(), RTT::os::Thread::getScheduler(), RTT::Info, rtos_sem_signal(), RTT::os::rtos_task_get_name(), and RTT::os::rtos_task_set_scheduler().

Referenced by RTT::extras::SimulationThread::SimulationThread().

void RTT::os::Thread::setStackSize ( unsigned int ssize )

staticinherited

Sets the stack size of the threads to be created.

This value is suggestive and may be altered or ignored by your operating system. Use zero to use the system's default.

Parameters

ssize the size of the stack in bytes

Definition at line 69 of file Thread.cpp.

void RTT::os::Thread::setStopTimeout ( Seconds s )

inherited

Sets the timeout for stop(), in seconds.

See also: getStopTimeout

Definition at line 403 of file Thread.cpp.

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

virtualinherited

Set the wait policy of a periodic thread.

Parameters

The	wait policy between ORO_WAIT_ABS (absolute wait) and ORO_WAIT_REL (relative wait)

Implements RTT::os::ThreadInterface.

Definition at line 647 of file Thread.cpp.

References RTT::os::rtos_task_set_wait_period_policy().

bool IRQActivity::start ( )

virtual

Start the activity.

This will call RunnableInterface::initialize() and upon success, effectively start the activity, by running the RunnableInterface::step() or RunnableInterface::loop() in a thread.

See also: isPeriodic()

Returns: true if the activity is started, false otherwise

Reimplemented from RTT::Activity.

Definition at line 69 of file IRQActivity.cpp.

References RTT::Activity::breakLoop(), RTT::Logger::endl(), RTT::Logger::Error, RTT::extras::IRQActivity::Provider::getIRQ(), RTT::ExecutionEngine::getParent(), RTT::Logger::log(), RTT::Activity::loop(), RTT::Activity::start(), RTT::base::RunnableInterface::step(), and RTT::Activity::step().

void RTT::Activity::step ( )

virtualinherited

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 100 of file Activity.cpp.

References RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::step().

Referenced by RTT::Activity::loop(), and start().

bool RTT::Activity::stop ( )

virtualinherited

Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop().

If no errors occured, RunnableInterface::finalize() is called.

See also: isPeriodic()

Returns: true if the activity is stopped, false otherwise

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 128 of file Activity.cpp.

References RTT::os::Thread::stop().

Referenced by RTT::extras::FileDescriptorActivity::stop(), RTT::Activity::~Activity(), and ~IRQActivity().

void RTT::os::Thread::terminate ( )

protectedinherited

Exit and destroy the thread.

Precondition: this is only called from within the destructor.

Postcondition: the thread does no longer exist.

Definition at line 621 of file Thread.cpp.

References rtos_sem_signal(), and RTT::os::rtos_task_delete().

Referenced by RTT::os::Thread::~Thread().

os::ThreadInterface * RTT::Activity::thread ( )

virtualinherited

Returns a pointer to the thread which will run this activity.

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 90 of file Activity.cpp.

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

inlineinherited

The unique thread number (within the same process).

Definition at line 216 of file ThreadInterface.hpp.

Referenced by RTT::os::Thread::Thread(), and RTT::os::thread_function().

bool RTT::Activity::trigger ( )

virtualinherited

Trigger that work has to be done.

When you invoke trigger(), you intend to notify the mechanism that calls execute(), that execute() should be called. This allows a separation between actually executing code (execute()) and notifying that code must be executed (trigger()). A trigger may be ignored by the implementation, in which case trigger returns false.

Semantics: If trigger() returns true, the activity will be executed at least once from the moment trigger() is called.

Return values

true	When this->isActive() and the implementation allows external triggers.
false	When !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 132 of file Activity.cpp.

References RTT::os::Thread::isActive(), and RTT::os::Thread::start().

Referenced by RTT::corba::CorbaDispatcher::dispatchChannel().

void RTT::os::Thread::yield ( )

virtualinherited

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

Implements RTT::os::ThreadInterface.

Definition at line 616 of file Thread.cpp.

References RTT::os::rtos_task_yield().