An activity which is triggered by the availability of data on a set of file descriptors. More...

#include <rtt/extras/FileDescriptorActivity.hpp>

Inheritance diagram for RTT::extras::FileDescriptorActivity:

Public Types
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

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

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

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

	FileDescriptorActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
	Create a FileDescriptorActivity with a given scheduler type, priority, intended period, CPU affinity, and RunnableInterface instance. More...

virtual	~FileDescriptorActivity ()

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

virtual Seconds	getPeriod () const
	Get the intended period (not the actual running period) More...

virtual bool	setPeriod (Seconds period)
	Set the intended period (not the actual running period) More...

void	watch (int fd)
	Sets the file descriptor the activity should be listening to. More...

void	unwatch (int fd)
	Removes a file descriptor from the set of watched FDs. More...

void	clearAllWatches ()
	Remove all FDs that are currently being watched. More...

bool	isWatched (int fd) const
	True if this specific FD is being watched by the activity. More...

bool	isUpdated (int fd) const
	True if this specific FD has new data. More...

bool	hasTimeout () const
	True if the base::RunnableInterface has been triggered because of a timeout, instead of because of new data is available. More...

bool	hasError () const
	True if one of the file descriptors has a problem (for instance it has been closed) More...

void	setTimeout (int timeout)
	Sets the timeout, in milliseconds, for waiting on the IO. More...

void	setTimeout_us (int timeout_us)
	Sets the timeout, in microseconds, for waiting on the IO. More...

int	getTimeout () const
	Get the timeout, in milliseconds, for waiting on the IO. More...

int	getTimeout_us () const
	Get the timeout, in microseconds, for waiting on the IO. More...

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

virtual void	loop ()

virtual bool	breakLoop ()

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 void	step ()
	Called by loop() when data is available on the file descriptor. More...

virtual void	work (base::RunnableInterface::WorkReason reason)
	Called by loop() when data is available on the file descriptor. More...

virtual bool	trigger ()
	Force calling step() even if no data is available on the file descriptor, and returns true if the signalling was successful. More...

virtual bool	timeout ()
	Always returns false. More...

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

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

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

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

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

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

virtual bool	initialize ()

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

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
os::Mutex	msg_lock

os::Condition	msg_cond

double	update_period
	The period at which the Activity steps(). More...

bool	mtimeout
	When set to true, a next cycle will be a TimeOut cycle. More...

bool	mstopRequested

int	mwaitpolicy

RunnableInterface *	runner

int	msched_type
	Desired scheduler type. More...

bool	active
	When set to 1, the thread will run, when set to 0 the thread will stop ( isActive() ) More...

bool	prepareForExit
	Signal the thread that it should exit. More...

bool	inloop
	Is true when in the loop (isRunning() ) More...

bool	running
	Indicates if step() or loop() should be executed. More...

RTOS_TASK	rtos_task
	The realtime task structure created by this object. More...

rt_sem_t	sem
	The semaphore used for starting the thread. More...

MutexRecursive	breaker
	Used to implement synchronising breakLoop(). More...

int	maxOverRun
	The maximum times a periodic overrun may happen, or -1 if unlimited. More...

NANO_TIME	period
	The period as it is passed to the operating system. More...

double	stopTimeout
	The timeout, in seconds, for stop() More...

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

Static Protected Attributes
static unsigned int	default_stack_size = 0

static double	lock_timeout_no_period_in_s = 1.0
	configuration of the lock timeout in seconds More...

static double	lock_timeout_period_factor = 10.0
	configuration of the lock timeout for periodic tasks in seconds More...

Detailed Description

An activity which is triggered by the availability of data on a set of file descriptors.

step() (and hence the base::RunnableInterface's step() method) is called when data is available or when an error is encountered on the file descriptor.

To use it, one must add the file descriptors to watch in the task's configureHook()

FileDescriptorActivity* fd_activity = dynamic_cast<FileDescriptorActivity*>(getActivity().get()); if (fd_activity) { fd_activity->watch(device_fd); // optional, set a timeout in milliseconds fd_activity->setTimeout(1000); // or in microseconds fd_activity->setTimeout_us(1000); }

Then, updateHook() and – when in ERROR state – errorHook() will be called when one of these three events happen:

new data is available on one of the watched FDs
an error happens on one of the watched FDs
the timeout is reached

The different cases can be tested in updateHook() as follows:

FileDescriptorActivity* fd_activity = dynamic_cast<FileDescriptorActivity*>(getActivity().get()); if (fd_activity) { if (fd_activity->hasError()) { } else if (fd_activity->hasTimeout()) { } else { // If there is more than one FD, discriminate. Otherwise, // we don't need to use isUpdated if (fd_activity->isUpdated(device_fd)) { } else if (fd_activity->isUpdated(another_fd)) { } } }

Definition at line 104 of file FileDescriptorActivity.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

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

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

Create a FileDescriptorActivity with a given priority and RunnableInterface instance.

The default scheduler for NonPeriodicActivity objects is ORO_SCHED_RT.

Parameters

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

The default scheduler for NonPeriodicActivity 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 78 of file FileDescriptorActivity.cpp.

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

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

Create a FileDescriptorActivity with a given scheduler type, priority and 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.
name	The name of the underlying thread.
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 103 of file FileDescriptorActivity.cpp.

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

Create a FileDescriptorActivity with a given scheduler type, priority, intended period, and 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.
period	The intended periodicity of the activity
_r	The optional runner, if none, this->loop() is called.
name	The name of the underlying thread.

Definition at line 119 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		unsigned	cpu_affinity,
		base::RunnableInterface *	_r = `0`,
		const std::string &	name = `"FileDescriptorActivity"`
	)

Create a FileDescriptorActivity with a given scheduler type, priority, intended period, CPU affinity, and 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.
period	The intended periodicity of the activity
cpu_affinity	The prefered cpu to run on (a mask)
_r	The optional runner, if none, this->loop() is called.
name	The name of the underlying thread.

Definition at line 135 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::~FileDescriptorActivity ( )

virtual

Definition at line 151 of file FileDescriptorActivity.cpp.

References stop().

Member Function Documentation

bool FileDescriptorActivity::breakLoop ( )

virtual

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

Reimplemented from RTT::Activity.

Definition at line 414 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::clearAllWatches ( )

virtual

Remove all FDs that are currently being watched.

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 206 of file FileDescriptorActivity.cpp.

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::active, RTT::os::Thread::finalize(), RTT::os::Thread::inloop, and RTT::os::Thread::running.

Referenced by RTT::Activity::loop(), and 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 155 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 267 of file Activity.cpp.

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

Referenced by RTT::Activity::stop().

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 338 of file Activity.cpp.

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

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

virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 643 of file Thread.cpp.

References RTT::os::Thread::maxOverRun.

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

virtualinherited

Read the name of this task.

Implements RTT::os::ThreadInterface.

Definition at line 633 of file Thread.cpp.

References RTT::os::Thread::rtos_task, and RTT::os::rtos_task_get_name().

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

Seconds FileDescriptorActivity::getPeriod ( ) const

virtual

Get the intended period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 156 of file FileDescriptorActivity.cpp.

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.

References RTT::os::Thread::period.

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.

References RTT::os::Thread::period.

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::Thread::rtos_task, and 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::Thread::rtos_task, and 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::Thread::msched_type, RTT::os::Thread::period, RTT::os::Thread::rtos_task, 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(), RTT::os::Thread::lock_timeout_no_period_in_s, RTT::os::Thread::lock_timeout_period_factor, RTT::os::Thread::period, and RTT::os::Thread::stopTimeout.

Referenced by RTT::os::Thread::stop(), and RTT::Activity::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::Activity::loop(), and 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.

int FileDescriptorActivity::getTimeout ( ) const

virtual

Get the timeout, in milliseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Returns: The timeout (milliseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 169 of file FileDescriptorActivity.cpp.

int FileDescriptorActivity::getTimeout_us ( ) const

virtual

Get the timeout, in microseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Returns: The timeout (microseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 171 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::hasError ( ) const

virtual

True if one of the file descriptors has a problem (for instance it has been closed)

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 222 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::hasTimeout ( ) const

virtual

True if the base::RunnableInterface has been triggered because of a timeout, instead of because of new data is available.

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 224 of file FileDescriptorActivity.cpp.

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 117 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 330 of file Activity.cpp.

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

Referenced by start(), and 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 334 of file Activity.cpp.

References RTT::os::Thread::isPeriodic(), and RTT::Activity::update_period.

bool FileDescriptorActivity::isRunning ( ) const

virtual

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

Reimplemented from RTT::Activity.

Definition at line 167 of file FileDescriptorActivity.cpp.

References RTT::Activity::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().

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

bool FileDescriptorActivity::isUpdated ( int fd ) const

virtual

True if this specific FD has new data.

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Parameters

fd	the file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 220 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isWatched ( int fd ) const

virtual

True if this specific FD is being watched by the activity.

Parameters

fd	the file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 226 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::loop ( )

virtual

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

Reimplemented from RTT::Activity.

Definition at line 303 of file FileDescriptorActivity.cpp.

References RTT::Error, RTT::base::RunnableInterface::IOReady, step(), RTT::base::RunnableInterface::TimeOut, timeout(), RTT::base::RunnableInterface::Trigger, and work().

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 343 of file Activity.cpp.

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

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.

References RTT::os::Thread::lock_timeout_no_period_in_s.

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.

References RTT::os::Thread::lock_timeout_period_factor.

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

virtualinherited

Implements RTT::os::ThreadInterface.

Definition at line 638 of file Thread.cpp.

References RTT::os::Thread::maxOverRun.

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 RTT::os::Thread::period, rtos_sem_signal(), RTT::os::Thread::rtos_task, RTT::os::rtos_task_make_periodic(), and RTT::os::Thread::sem.

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 FileDescriptorActivity::setPeriod ( Seconds period )

virtual

Set the intended period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 159 of file FileDescriptorActivity.cpp.

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::Thread::rtos_task, and 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, RTT::os::Thread::msched_type, rtos_sem_signal(), RTT::os::Thread::rtos_task, RTT::os::rtos_task_get_name(), RTT::os::rtos_task_set_scheduler(), and RTT::os::Thread::sem.

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.

References RTT::os::Thread::default_stack_size.

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.

References RTT::os::Thread::stopTimeout.

void FileDescriptorActivity::setTimeout ( int timeout )

virtual

Sets the timeout, in milliseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Precondition: 0 <= timeout (otherwise an error is logged and timeout is ignored)

Parameters

timeout The timeout (milliseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 173 of file FileDescriptorActivity.cpp.

References setTimeout_us().

void FileDescriptorActivity::setTimeout_us ( int timeout_us )

virtual

Sets the timeout, in microseconds, for waiting on the IO.

Set to 0 for blocking behaviour (no timeout).

Precondition: 0 <= timeout (otherwise an error is logged and timeout_us is ignored)

Parameters

timeout The timeout (microseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 177 of file FileDescriptorActivity.cpp.

References RTT::Error.

Referenced by setTimeout().

void RTT::Activity::setWaitPeriodPolicy ( int p )

virtualinherited

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)

Reimplemented from RTT::os::Thread.

Definition at line 348 of file Activity.cpp.

References RTT::Activity::mwaitpolicy.

bool FileDescriptorActivity::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 230 of file FileDescriptorActivity.cpp.

References RTT::Error, RTT::Activity::isActive(), and RTT::Activity::start().

void FileDescriptorActivity::step ( )

virtual

Called by loop() when data is available on the file descriptor.

By default, it calls step() on the associated runner interface (if any)

Reimplemented from RTT::Activity.

Definition at line 424 of file FileDescriptorActivity.cpp.

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

Referenced by loop().

bool FileDescriptorActivity::stop ( )

virtual

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

Reimplemented from RTT::Activity.

Definition at line 440 of file FileDescriptorActivity.cpp.

References RTT::Activity::stop().

Referenced by ~FileDescriptorActivity().

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 RTT::os::Thread::active, RTT::os::Thread::prepareForExit, rtos_sem_signal(), RTT::os::Thread::rtos_task, RTT::os::rtos_task_delete(), and RTT::os::Thread::sem.

Referenced by RTT::Activity::~Activity(), and 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 113 of file Activity.cpp.

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

inlineinherited

The unique thread number (within the same process).

Definition at line 217 of file ThreadInterface.hpp.

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

bool FileDescriptorActivity::timeout ( )

virtual

Always returns false.

Reimplemented from RTT::Activity.

Definition at line 286 of file FileDescriptorActivity.cpp.

Referenced by loop().

bool FileDescriptorActivity::trigger ( )

virtual

Force calling step() even if no data is available on the file descriptor, and returns true if the signalling was successful.

Reimplemented from RTT::Activity.

Definition at line 273 of file FileDescriptorActivity.cpp.

References RTT::Activity::isActive().

void FileDescriptorActivity::unwatch ( int fd )

virtual

Removes a file descriptor from the set of watched FDs.

This method is thread-safe, i.e. it can be called from any thread

Parameters

fd	the file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 200 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::watch ( int fd )

virtual

Sets the file descriptor the activity should be listening to.

This method is thread-safe, i.e. it can be called from any thread

Parameters

fd	the file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 188 of file FileDescriptorActivity.cpp.

References RTT::Error.

void FileDescriptorActivity::work ( base::RunnableInterface::WorkReason reason )

virtual

Called by loop() when data is available on the file descriptor.

By default, it calls step() on the associated runner interface (if any)

Reimplemented from RTT::Activity.

Definition at line 432 of file FileDescriptorActivity.cpp.

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

Referenced by loop().

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::Thread::rtos_task, and RTT::os::rtos_task_yield().

Member Data Documentation

bool RTT::os::Thread::active

protectedinherited

When set to 1, the thread will run, when set to 0 the thread will stop ( isActive() )

Definition at line 311 of file Thread.hpp.

Referenced by RTT::os::Thread::emergencyStop(), RTT::os::Thread::isActive(), RTT::os::Thread::start(), RTT::os::Thread::stop(), RTT::Activity::stop(), RTT::os::Thread::terminate(), and RTT::os::thread_function().

MutexRecursive RTT::os::Thread::breaker

protectedinherited

Used to implement synchronising breakLoop().

Definition at line 341 of file Thread.hpp.

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

unsigned int RTT::os::Thread::default_stack_size = 0

staticprotectedinherited

Definition at line 290 of file Thread.hpp.

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

bool RTT::os::Thread::inloop

protectedinherited

Is true when in the loop (isRunning() )

Definition at line 321 of file Thread.hpp.

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

double RTT::os::Thread::lock_timeout_no_period_in_s = 1.0

staticprotectedinherited

configuration of the lock timeout in seconds

Definition at line 295 of file Thread.hpp.

Referenced by RTT::os::Thread::getStopTimeout(), and RTT::os::Thread::setLockTimeoutNoPeriod().

double RTT::os::Thread::lock_timeout_period_factor = 10.0

staticprotectedinherited

configuration of the lock timeout for periodic tasks in seconds

Definition at line 300 of file Thread.hpp.

Referenced by RTT::os::Thread::getStopTimeout(), and RTT::os::Thread::setLockTimeoutPeriodFactor().

int RTT::os::Thread::maxOverRun

protectedinherited

The maximum times a periodic overrun may happen, or -1 if unlimited.

Definition at line 347 of file Thread.hpp.

Referenced by RTT::os::Thread::getMaxOverrun(), RTT::Activity::loop(), RTT::os::Thread::setMaxOverrun(), and RTT::os::thread_function().

int RTT::os::Thread::msched_type

protectedinherited

Desired scheduler type.

Definition at line 305 of file Thread.hpp.

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

os::Condition RTT::Activity::msg_cond

protectedinherited

Definition at line 224 of file Activity.hpp.

Referenced by RTT::Activity::loop(), RTT::Activity::stop(), RTT::Activity::timeout(), and RTT::Activity::trigger().

os::Mutex RTT::Activity::msg_lock

protectedinherited

Definition at line 223 of file Activity.hpp.

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

bool RTT::Activity::mstopRequested

protectedinherited

Definition at line 234 of file Activity.hpp.

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

bool RTT::Activity::mtimeout

protectedinherited

When set to true, a next cycle will be a TimeOut cycle.

Definition at line 233 of file Activity.hpp.

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

int RTT::Activity::mwaitpolicy

protectedinherited

Definition at line 235 of file Activity.hpp.

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

NANO_TIME RTT::os::Thread::period

protectedinherited

The period as it is passed to the operating system.

Definition at line 352 of file Thread.hpp.

Referenced by RTT::os::Thread::getPeriod(), RTT::os::Thread::getPeriodNS(), RTT::os::Thread::getScheduler(), RTT::os::Thread::getStopTimeout(), RTT::os::Thread::isPeriodic(), RTT::os::Thread::setPeriod(), RTT::os::Thread::start(), RTT::os::Thread::stop(), and RTT::os::thread_function().

bool RTT::os::Thread::prepareForExit

protectedinherited

Signal the thread that it should exit.

Definition at line 316 of file Thread.hpp.

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

RTOS_TASK RTT::os::Thread::rtos_task

protectedinherited

The realtime task structure created by this object.

Definition at line 331 of file Thread.hpp.

Referenced by RTT::os::Thread::getCpuAffinity(), RTT::os::Thread::getName(), RTT::os::Thread::getPid(), RTT::os::Thread::getPriority(), RTT::os::Thread::getScheduler(), RTT::os::Thread::setCpuAffinity(), RTT::os::Thread::setPeriod(), RTT::os::Thread::setPriority(), RTT::os::Thread::setScheduler(), RTT::os::Thread::setWaitPeriodPolicy(), RTT::os::Thread::start(), RTT::os::Thread::stop(), RTT::Activity::stop(), RTT::os::Thread::terminate(), RTT::os::Thread::Thread(), and RTT::os::Thread::yield().

RunnableInterface* RTT::base::ActivityInterface::runner

protectedinherited

Definition at line 65 of file ActivityInterface.hpp.

Referenced by RTT::base::ActivityInterface::ActivityInterface(), RTT::Activity::breakLoop(), RTT::extras::SlaveActivity::execute(), RTT::extras::PeriodicActivity::finalize(), RTT::Activity::finalize(), RTT::base::ActivityInterface::getRunner(), RTT::Activity::initialize(), RTT::extras::PeriodicActivity::initialize(), RTT::Activity::loop(), RTT::base::ActivityInterface::run(), RTT::extras::SequentialActivity::start(), RTT::extras::SlaveActivity::start(), RTT::Activity::step(), RTT::extras::PeriodicActivity::step(), step(), RTT::extras::SequentialActivity::stop(), RTT::extras::SlaveActivity::stop(), RTT::extras::SequentialActivity::trigger(), RTT::extras::FileDescriptorSimulationActivity::work(), RTT::extras::PeriodicActivity::work(), RTT::Activity::work(), work(), and RTT::base::ActivityInterface::~ActivityInterface().

bool RTT::os::Thread::running

protectedinherited

Indicates if step() or loop() should be executed.

Definition at line 326 of file Thread.hpp.

Referenced by RTT::os::Thread::emergencyStop(), RTT::os::Thread::isRunning(), RTT::os::Thread::start(), RTT::os::Thread::stop(), RTT::Activity::stop(), and RTT::os::thread_function().

rt_sem_t RTT::os::Thread::sem

protectedinherited

The semaphore used for starting the thread.

Definition at line 336 of file Thread.hpp.

Referenced by RTT::os::Thread::setPeriod(), RTT::os::Thread::setScheduler(), RTT::os::Thread::start(), RTT::os::Thread::terminate(), RTT::os::Thread::Thread(), RTT::os::thread_function(), and RTT::os::Thread::~Thread().

double RTT::os::Thread::stopTimeout

protectedinherited

The timeout, in seconds, for stop()

Definition at line 357 of file Thread.hpp.

Referenced by RTT::os::Thread::getStopTimeout(), and RTT::os::Thread::setStopTimeout().

int RTT::os::ThreadInterface::threadnb

protectedinherited

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

See also: os::threads

Definition at line 229 of file ThreadInterface.hpp.

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

double RTT::Activity::update_period

protectedinherited

The period at which the Activity steps().

Definition at line 228 of file Activity.hpp.

Referenced by RTT::Activity::getPeriod(), RTT::Activity::isPeriodic(), RTT::Activity::loop(), RTT::Activity::setPeriod(), RTT::Activity::stop(), and RTT::Activity::timeout().

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

rtt/extras/FileDescriptorActivity.hpp
rtt/extras/FileDescriptorActivity.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation