This thread is the simulated real-time periodic thread in the Orocos system. More...

#include <rtt/extras/SimulationThread.hpp>

Inheritance diagram for RTT::extras::SimulationThread:

Public Member Functions
virtual	~SimulationThread ()
	Destructor.
virtual bool	start ()
	Start the Thread.
virtual bool	isRunning () const
	Returns true if thread is running or run( unsigned int ) is being invoked.
virtual bool	start (unsigned int maxsteps)
	Only run the simulation maxsteps time steps, then stop the SimulationThread.
virtual bool	run (unsigned int maxsteps)
	Execute maxsteps steps immediately.
virtual os::ThreadInterface *	simthread ()
	Always returns the MainThread.
bool	addActivity (PeriodicActivity *t)
	Add an Timer that will be ticked every execution period Once added, a timer can not be removed.
bool	removeActivity (PeriodicActivity *t)
virtual bool	stop ()
	Stop the Thread.
bool	setPeriod (Seconds s)
	Set the periodicity in Seconds.
bool	setPeriod (secs s, nsecs ns)
	Set the periodicity of this thread (seconds, nanoseconds)
bool	setPeriod (TIME_SPEC p)
	Set the periodicity of this thread.
void	getPeriod (secs &s, nsecs &ns) const
	Get the periodicity of this thread (seconds, nanoseconds)
virtual Seconds	getPeriod () const
	Get the periodicity in Seconds.
virtual nsecs	getPeriodNS () const
	Get the periodicity in nanoseconds.
virtual bool	isPeriodic () const
virtual bool	isActive () const
	Returns whether the thread is active.
virtual const char *	getName () const
	Read the name of this task.
virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer.
virtual const RTOS_TASK *	getTask () const
	const version of the above.
virtual bool	setScheduler (int sched_type)
	Change the scheduler policy in which this thread runs.
virtual int	getScheduler () const
	Get the scheduler policy in which this thread runs.
virtual bool	setPriority (int priority)
	Set the priority of this Thread.
virtual int	getPriority () const
	The priority of this Thread.
virtual unsigned int	getPid () const
	Returns the Process or Thread ID of this thread, as assigned by the Operating System.
virtual bool	setCpuAffinity (unsigned cpu_affinity)
	Set cpu affinity for this thread The cpu affinity of the thread (.
virtual unsigned	getCpuAffinity () const
virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread.
virtual void	setMaxOverrun (int m)
virtual int	getMaxOverrun () const
virtual void	setWaitPeriodPolicy (int p)
	Set the wait policy of a periodic thread.
unsigned int	threadNumber () const
	The unique thread number (within the same process).
bool	isSelf () const
Static Public Member Functions
static SimulationThreadPtr	Instance (double period=0.001)
	Create the SimulationThread with a given period.
static bool	Release ()
	Releases the SimulationThread Reference counting might aid in making this call safe.
static TimerThreadPtr	Instance (int priority, double periodicity)
	Create a TimerThread with a given priority and periodicity, using the default scheduler, ORO_SCHED_RT.
static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity)
	Create a TimerThread with a given scheduler, priority and periodicity.
static TimerThreadPtr	Instance (int scheduler, int priority, double periodicity, unsigned cpu_affinity)
	Create a TimerThread with a given scheduler, priority and periodicity.
static void	setStackSize (unsigned int ssize)
	Sets the stack size of the threads to be created.
Static Public Attributes
static const unsigned int	MAX_ACTIVITIES = 64
Protected Types
typedef std::vector < boost::weak_ptr< TimerThread > >	TimerThreadList
	A Boost weak pointer is used to store non-owning pointers to shared objects.
Protected Member Functions
bool	initialize ()
void	step ()
void	finalize ()
	SimulationThread (double period)
	Constructor.
void	reorderList ()
void	terminate ()
	Exit and destroy the thread.
void	emergencyStop ()
virtual void	loop ()
virtual bool	breakLoop ()
Protected Attributes
os::MutexRecursive	mutex
	A Activity can not create a activity of same priority from step().
int	threadnb
	Threads are given an unique number, which follows thread creation order.
Static Protected Attributes
static TimerThreadList	TimerThreads
	All timer threads.

Detailed Description

This thread is the simulated real-time periodic thread in the Orocos system.

All your activities in the same program must be a SimulationActivity for this to work, since the os::TimeService global time is updated when this thread runs.

By default, the update period is 0.001 seconds. If you want to run with a finer or coarser grained time step, use the Instance() method and supply another period before SimulationActivities are created.

Note:: This implementation has lost the capability to run SimulationActivity objects of different periods.

Definition at line 64 of file SimulationThread.hpp.

Member Function Documentation

bool RTT::os::Thread::breakLoop ( ) [protected, virtual, inherited]

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

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

Definition at line 508 of file Thread.cpp.

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

void RTT::SimulationThread::finalize ( ) [protected, virtual]

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

Reimplemented from RTT::extras::TimerThread.

Definition at line 155 of file SimulationThread.cpp.

References RTT::os::TimeService::enableSystemClock(), and RTT::Logger::log().

Referenced by run().

unsigned RTT::os::Thread::getCpuAffinity ( ) const [virtual, inherited]

Returns:: the cpu affinity (

See also:: rtos_task_set_cpu_affinity)

Reimplemented in RTT::Activity.

Definition at line 593 of file Thread.cpp.

References RTT::os::rtos_task_get_cpu_affinity().

double RTT::os::Thread::getPeriod ( ) const [virtual, inherited]

Get the periodicity in Seconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Reimplemented in RTT::Activity.

Definition at line 578 of file Thread.cpp.

Referenced by run(), SimulationThread(), step(), and RTT::os::Thread::stop().

nsecs RTT::os::Thread::getPeriodNS ( ) const [virtual, inherited]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 583 of file Thread.cpp.

unsigned int RTT::os::Thread::getPid ( ) const [virtual, inherited]

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 598 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

int RTT::os::Thread::getPriority ( ) const [virtual, inherited]

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 573 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

Referenced by SimulationThread().

int RTT::os::Thread::getScheduler ( ) const [virtual, inherited]

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 475 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler().

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

virtual RTOS_TASK* RTT::os::Thread::getTask ( ) [inline, virtual, inherited]

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 174 of file Thread.hpp.

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

bool RTT::SimulationThread::initialize ( ) [protected, virtual]

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

Reimplemented from RTT::extras::TimerThread.

Definition at line 141 of file SimulationThread.cpp.

References RTT::os::TimeService::enableSystemClock(), RTT::Logger::log(), and RTT::Logger::nl().

Referenced by run().

SimulationThreadPtr RTT::SimulationThread::Instance ( double period = 0.001 ) [static]

Create the SimulationThread with a given period.

Only one SimulationThread can be created.

Parameters:

period The period in seconds at which the simulation takes steps and updates the TimeService. Only the first invocation of Instance will consider this parameter. The others will ignore it.

Definition at line 69 of file SimulationThread.cpp.

Referenced by simthread(), and RTT::extras::SimulationActivity::thread().

bool RTT::os::Thread::isActive ( ) const [virtual, inherited]

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 451 of file Thread.cpp.

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

void RTT::os::Thread::loop ( ) [protected, virtual, inherited]

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 503 of file Thread.cpp.

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

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

bool RTT::SimulationThread::Release ( ) [static]

Releases the SimulationThread Reference counting might aid in making this call safe.

Returns:: true on success, false on failure

Definition at line 79 of file SimulationThread.cpp.

bool RTT::SimulationThread::run ( unsigned int maxsteps ) [virtual]

Execute maxsteps steps immediately.

This function will call the step() functions maxsteps times, without requiring start() or stop() to be called before or after. The thread is thus not used.

Returns:: false if maxsteps == 0

Postcondition:: When run() returns, step() has been called maxsteps times.

Definition at line 122 of file SimulationThread.cpp.

References finalize(), RTT::os::Thread::getPeriod(), initialize(), isRunning(), RTT::os::TimeService::secondsChange(), and step().

bool RTT::os::Thread::setCpuAffinity ( unsigned cpu_affinity ) [virtual, inherited]

Set cpu affinity for this thread 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 588 of file Thread.cpp.

References RTT::os::rtos_task_set_cpu_affinity().

bool RTT::os::Thread::setPeriod ( Seconds new_period ) [virtual, inherited]

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.

Reimplemented in RTT::Activity.

Definition at line 523 of file Thread.cpp.

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

bool RTT::os::Thread::setPriority ( int priority ) [virtual, inherited]

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 563 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::setScheduler ( int sched_type ) [virtual, inherited]

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.