Orocos Real-Time Toolkit
2.6.0
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00001 /*************************************************************************** 00002 tag: Peter Soetens Sat May 21 20:15:51 CEST 2005 ThreadInterface.hpp 00003 00004 ThreadInterface.hpp - description 00005 ------------------- 00006 begin : Sat May 21 2005 00007 copyright : (C) 2005 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef OS_THREAD_INTERFACE_HPP 00040 #define OS_THREAD_INTERFACE_HPP 00041 00042 #include "fosi.h" 00043 #include "threads.hpp" 00044 #include "Time.hpp" 00045 #include "../rtt-config.h" 00046 00047 namespace RTT 00048 { 00049 namespace os 00050 { 00056 class RTT_API ThreadInterface 00057 { 00058 public: 00059 ThreadInterface(); 00060 virtual ~ThreadInterface(); 00061 00070 virtual bool start() = 0; 00071 00080 virtual bool stop() = 0; 00081 00085 virtual Seconds getPeriod() const = 0; 00086 00092 virtual bool setPeriod(Seconds new_period) = 0; 00093 00097 virtual nsecs getPeriodNS() const = 0; 00098 00108 virtual bool isRunning() const = 0; 00109 00115 virtual bool isActive() const = 0; 00116 00120 virtual const char* getName() const = 0; 00121 00128 virtual RTOS_TASK * getTask() = 0; 00129 00133 virtual const RTOS_TASK * getTask() const = 0; 00134 00153 virtual bool setScheduler(int sched_type) = 0; 00154 00162 virtual int getScheduler() const = 0; 00163 00170 virtual bool setPriority(int priority) = 0; 00171 00179 virtual int getPriority() const = 0; 00180 00191 virtual unsigned int getPid() const = 0; 00192 00193 virtual void setMaxOverrun(int m) = 0; 00194 00195 virtual int getMaxOverrun() const = 0; 00196 00201 virtual void setWaitPeriodPolicy(int p) = 0; 00202 00206 virtual void yield() = 0; 00207 00211 unsigned int threadNumber() const 00212 { 00213 return threadnb; 00214 } 00215 00216 bool isSelf() const; 00217 protected: 00223 int threadnb; 00224 }; 00225 } 00226 } 00227 00228 #endif