A Thread object executes user code in its own thread. More...

#include <rtt/os/Thread.hpp>

Inheritance diagram for RTT::os::Thread:

Public Member Functions
	Thread (int scheduler, int priority, double period, unsigned cpu_affinity, const std::string &name)
	Create a Thread with a given scheduler type, priority and a name. More...

virtual	~Thread ()

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

virtual bool	stop ()
	Stop the Thread. 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...

bool	setPeriod (Seconds s)
	Set the periodicity 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...

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

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

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

virtual bool	isPeriodic () const

virtual bool	isRunning () const
	Returns whether the thread is running. More...

virtual bool	isActive () const
	Returns whether the thread is active. 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 bool	setCpuAffinity (unsigned cpu_affinity)
	Set cpu affinity for this thread. More...

virtual unsigned	getCpuAffinity () const

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

void	emergencyStop ()

virtual void	step ()

virtual void	loop ()

virtual bool	breakLoop ()

virtual bool	initialize ()

virtual void	finalize ()

Protected Attributes
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...

Friends
void *	thread_function (void *t)

Detailed Description

A Thread object executes user code in its own thread.

If the underlying OS supports it, both period and priority can be changed after creation. When the period is 0, the loop() function is executed, when the period is greater than 0, the step() function is executed. Note: if the user does not implement loop(), it will call step() by default.

The main functions to implement are initialize(), step()/loop() and finalize(). initialize() is called when start() is called, and before the first step()/loop() and finalize() is called when stop() is called after the last step()/loop() returns.

behavior

When a period is set, step() is executed from the moment start() is called, and afterwards according to it's period. When stop() is called, it waits for the step() function to return and then stops the periodic execution.

Step() overruns are detected and the threshold to 'emergency stop' the thread can be set by setMaxOverrun(). Overruns must be accumulated 'on average' to trigger this behavior: one not overrunning step() compensates for one overrunning step().

periodic behaviour

The first invocation of start() invokes the initialize() function and runs the loop() method in the thread. When loop() returns the thread waits for another start() to execute loop() again. In that case, initialize() is not executed.

When stop() is called and the thread is still executing loop() and breakLoop() returns true (not the default), the stop() function succeeds and the finalize() method is called by stop(). If the thread was not executing loop(), stop will always call finalize() and return success.

The user must provide an implementation of breakLoop() returning true to make stop() work while loop() is being executed. stop() will fail and not execute finalize() if the thread executes loop() and breakLoop() is not reimplemented to return true.

, priorities, schedulers and stack sizes

These four parameters are the parameters that users wish to set for every thread created. All but stack size can be modified after creation, and if the OS permits it, modified even when the thread is using user code. All these parameters are passed to the underlying OS unmodified. In case an incorrect combination is made, the change may be rejected or adjusted to a close or safe value.

See also: setPeriod, setScheduler, setPriority, setStackSize

Definition at line 109 of file Thread.hpp.

Constructor & Destructor Documentation

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

Create a Thread with a given scheduler type, priority and a name.

Parameters

scheduler	The scheduler, one of ORO_SCHED_RT or ORO_SCHED_OTHER.
priority	The priority of the thread, this is interpreted by your RTOS.
period	The period in seconds (eg 0.001) of the thread, or zero if not periodic.
cpu_affinity	The cpu affinity of the thread, this is interpreted by your RTOS. If 0, the new thread inherits the affinity of its creator (the default).
name	The name of the Thread. May be used by your OS to identify the thread. the thread's own virtual functions are executed.

Definition at line 236 of file Thread.cpp.

References breaker, RTT::Critical, default_stack_size, getCpuAffinity(), getName(), RTT::dev::NameServer< _ValueType >::getObject(), getPeriod(), getPid(), getPriority(), getScheduler(), RTT::Info, msched_type, RTT::dev::DigitalOutInterface::nameserver, ORO_SCHED_OTHER, rtos_sem_destroy(), rtos_sem_init(), rtos_sem_wait(), rtos_task, RTT::os::rtos_task_create(), sem, thread_function, RTT::os::ThreadInterface::threadNumber(), and RTT::Warning.

RTT::os::Thread::~Thread ( )

virtual

Definition at line 325 of file Thread.cpp.

References RTT::Debug, getName(), isRunning(), rtos_sem_destroy(), sem, stop(), and terminate().

Member Function Documentation

bool RTT::os::Thread::breakLoop ( )

protectedvirtual

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

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

Definition at line 521 of file Thread.cpp.

Referenced by stop().

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

protected

Definition at line 226 of file Thread.cpp.

References active, finalize(), inloop, and running.

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

void RTT::os::Thread::finalize ( )

protectedvirtual

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

Reimplemented in RTT::corba::OrbRunner, RTT::Activity, RTT::extras::TimerThread, and RTT::extras::SimulationThread.

Definition at line 532 of file Thread.cpp.

Referenced by emergencyStop(), and stop().

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

virtual

Returns: the cpu affinity (

See also: rtos_task_set_cpu_affinity)

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 606 of file Thread.cpp.

References rtos_task, and RTT::os::rtos_task_get_cpu_affinity().

Referenced by RTT::Activity::getCpuAffinity(), and Thread().

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

virtual

Implements RTT::os::ThreadInterface.

Definition at line 643 of file Thread.cpp.

References maxOverRun.

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

virtual

Read the name of this task.

Implements RTT::os::ThreadInterface.

Definition at line 633 of file Thread.cpp.

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

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

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

Get the periodicity of this thread (seconds, nanoseconds)

Definition at line 570 of file Thread.cpp.

References period.

double RTT::os::Thread::getPeriod ( ) const

virtual

Get the periodicity in Seconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, and RTT::Activity.

Definition at line 591 of file Thread.cpp.

References RTT::nsecs_to_Seconds(), and period.

Referenced by getStopTimeout(), RTT::extras::SimulationThread::run(), RTT::extras::SimulationThread::SimulationThread(), RTT::extras::SimulationThread::step(), and Thread().

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

virtual

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 596 of file Thread.cpp.

References period.

unsigned int RTT::os::Thread::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 611 of file Thread.cpp.

References rtos_task, and RTT::os::rtos_task_get_pid().

Referenced by Thread().

int RTT::os::Thread::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 586 of file Thread.cpp.

References rtos_task, and RTT::os::rtos_task_get_priority().

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

int RTT::os::Thread::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 488 of file Thread.cpp.

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

Referenced by setScheduler(), and Thread().

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

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 getPeriod(), lock_timeout_no_period_in_s, lock_timeout_period_factor, period, and stopTimeout.

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

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

inlinevirtual

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

inlinevirtual

const version of the above.

Implements RTT::os::ThreadInterface.

Definition at line 210 of file Thread.hpp.

bool RTT::os::Thread::initialize ( )

protectedvirtual

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

Reimplemented in RTT::Activity, RTT::corba::CorbaDispatcher, RTT::mqueue::Dispatcher, RTT::extras::TimerThread, and RTT::extras::SimulationThread.

Definition at line 527 of file Thread.cpp.

Referenced by start().

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

virtual

Returns whether the thread is active.

A thread is active between the invocation of start() and the invocation of stop().

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 464 of file Thread.cpp.

References active.

Referenced by RTT::Activity::isActive(), start(), and RTT::Activity::trigger().

bool RTT::os::Thread::isPeriodic ( ) const

virtual

Reimplemented in RTT::Activity.

Definition at line 581 of file Thread.cpp.

References period.

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

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

virtual

Returns whether the thread is running.

A thread is running if it is executing its loop() function or in the process of periodically calling step(). Hence for periodic threads, isRunning() == isActive() while for non-periodic threads, isRunning() is only true if isActive() and it is executing loop().

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, RTT::Activity, and RTT::extras::SimulationThread.

Definition at line 459 of file Thread.cpp.

References running.

Referenced by RTT::extras::SimulationThread::isRunning(), RTT::Activity::isRunning(), and ~Thread().

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().

void RTT::os::Thread::loop ( )

protectedvirtual

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

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

Definition at line 516 of file Thread.cpp.

References step().

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

bool RTT::os::Thread::setCpuAffinity ( unsigned cpu_affinity )

virtual

Set cpu affinity for this thread.

Parameters

cpu_affinity The cpu affinity of the thread (

See also: rtos_task_set_cpu_affinity).

Returns: true if the mask has been applied

Reimplemented in RTT::Activity.

Definition at line 601 of file Thread.cpp.

References rtos_task, and RTT::os::rtos_task_set_cpu_affinity().

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

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

static

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 lock_timeout_no_period_in_s.

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

static

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 lock_timeout_period_factor.

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

virtual

Implements RTT::os::ThreadInterface.

Definition at line 638 of file Thread.cpp.

References maxOverRun.

bool RTT::os::Thread::setPeriod ( Seconds new_period )

virtual

Set the periodicity in Seconds.

Parameters

new_period A positive number expressing the period

Returns: true if it was accepted, false otherwise.

Implements RTT::os::ThreadInterface.

Definition at line 536 of file Thread.cpp.

References RTT::Seconds_to_nsecs().

Referenced by RTT::Activity::Activity(), and setPeriod().

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

Set the periodicity of this thread (seconds, nanoseconds)

Definition at line 542 of file Thread.cpp.

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

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

Set the periodicity of this thread.

Definition at line 565 of file Thread.cpp.

References setPeriod().

bool RTT::os::Thread::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 576 of file Thread.cpp.

References rtos_task, and RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::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 469 of file Thread.cpp.

References RTT::os::CheckScheduler(), getScheduler(), RTT::Info, msched_type, rtos_sem_signal(), rtos_task, RTT::os::rtos_task_get_name(), RTT::os::rtos_task_set_scheduler(), and sem.

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

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

static

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 default_stack_size.

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

Sets the timeout for stop(), in seconds.

See also: getStopTimeout

Definition at line 403 of file Thread.cpp.

References stopTimeout.

void RTT::os::Thread::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.

Reimplemented in RTT::Activity.

Definition at line 648 of file Thread.cpp.

References rtos_task, and RTT::os::rtos_task_set_wait_period_policy().

bool RTT::os::Thread::start ( )

virtual

Start the Thread.

Postcondition: initialize() is called first; The Thread is running

Returns: true if the function did succeed. false otherwise.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::extras::IRQActivity, and RTT::extras::SimulationThread.

Definition at line 338 of file Thread.cpp.

References active, RTT::Critical, initialize(), isActive(), period, rtos_sem_signal(), rtos_sem_value(), rtos_task, RTT::os::rtos_task_make_periodic(), running, and sem.

Referenced by RTT::extras::SimulationThread::start(), RTT::Activity::start(), RTT::Activity::timeout(), and RTT::Activity::trigger().

void RTT::os::Thread::step ( )

protectedvirtual

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

Reimplemented in RTT::extras::FileDescriptorActivity, RTT::Activity, RTT::extras::TimerThread, and RTT::extras::SimulationThread.

Definition at line 512 of file Thread.cpp.

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

bool RTT::os::Thread::stop ( )

virtual

Stop the Thread.

Postcondition: The Thread is no longer being run; finalize() is called when the Thread is stopped.

Returns: true if the function did succeed. false otherwise.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::extras::FileDescriptorActivity, and RTT::Activity.

Definition at line 417 of file Thread.cpp.

References active, breaker, breakLoop(), RTT::Error, finalize(), getName(), getStopTimeout(), inloop, RTT::os::MutexTimedLock::isSuccessful(), period, rtos_task, RTT::os::rtos_task_make_periodic(), running, and RTT::Warning.

Referenced by RTT::extras::SimulationThread::step(), RTT::extras::SimulationThread::~SimulationThread(), ~Thread(), and RTT::extras::TimerThread::~TimerThread().

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

protected

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

Referenced by RTT::Activity::~Activity(), and ~Thread().

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

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

virtual

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

Friends And Related Function Documentation

void* thread_function ( void * t )

friend

This is one time initialisation

The real task starts here.

Definition at line 75 of file Thread.cpp.

Referenced by Thread().

Member Data Documentation

bool RTT::os::Thread::active

protected

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

MutexRecursive RTT::os::Thread::breaker

protected

Used to implement synchronising breakLoop().

Definition at line 341 of file Thread.hpp.

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

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

staticprotected

Definition at line 290 of file Thread.hpp.

Referenced by setStackSize(), and Thread().

bool RTT::os::Thread::inloop

protected

Is true when in the loop (isRunning() )

Definition at line 321 of file Thread.hpp.

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

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

staticprotected

configuration of the lock timeout in seconds

Definition at line 295 of file Thread.hpp.

Referenced by getStopTimeout(), and setLockTimeoutNoPeriod().

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

staticprotected

configuration of the lock timeout for periodic tasks in seconds

Definition at line 300 of file Thread.hpp.

Referenced by getStopTimeout(), and setLockTimeoutPeriodFactor().

int RTT::os::Thread::maxOverRun

protected

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

Definition at line 347 of file Thread.hpp.

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

int RTT::os::Thread::msched_type

protected

Desired scheduler type.

Definition at line 305 of file Thread.hpp.

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

NANO_TIME RTT::os::Thread::period

protected

The period as it is passed to the operating system.

Definition at line 352 of file Thread.hpp.

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

bool RTT::os::Thread::prepareForExit

protected

Signal the thread that it should exit.

Definition at line 316 of file Thread.hpp.

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

RTOS_TASK RTT::os::Thread::rtos_task

protected

The realtime task structure created by this object.

Definition at line 331 of file Thread.hpp.

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

bool RTT::os::Thread::running

protected

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

Definition at line 326 of file Thread.hpp.

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

rt_sem_t RTT::os::Thread::sem

protected

The semaphore used for starting the thread.

Definition at line 336 of file Thread.hpp.

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

double RTT::os::Thread::stopTimeout

protected

The timeout, in seconds, for stop()

Definition at line 357 of file Thread.hpp.

Referenced by getStopTimeout(), and 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().

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

rtt/os/Thread.hpp
rtt/os/Thread.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

behavior

periodic behaviour

, priorities, schedulers and stack sizes

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation