threadinterface.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Sat May 21 20:15:51 CEST 2005  ThreadInterface.hpp 

                        ThreadInterface.hpp -  description
                           -------------------
    begin                : Sat May 21 2005
    copyright            : (C) 2005 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/
 
 
#ifndef OS_THREAD_INTERFACE_HPP
#define OS_THREAD_INTERFACE_HPP

#include "RunnableInterface.hpp"
#include "fosi.h"
#include "threads.hpp"

namespace RTT
{ namespace OS {
    /**
     * A thread which is being run (or runs a RunnableInterface).
     * The periodicity is the time between the starting
     * of two runs or zero for non periodic threads.
     */
    class ThreadInterface
    {
    public:
        ThreadInterface();
        virtual ~ThreadInterface();

        typedef double Seconds;
        typedef long secs;
        typedef long msecs;
        typedef long long nsecs;

        /**
         * Run the functionality of one RunnableInterface object.
         * Only one RunnableInterface object can be run, the old one is
         * disconnected.
         * @param r The object to run or zero to clear.
         * @return true if accepted, false if the thread is running.
         */
        virtual bool run( RunnableInterface* r) = 0;

        /**
         * Start the Thread.
         *
         * @post    initialize() is called first
         * @post    The Thread is running
         * @return  true if the function did succeed.
         *       false otherwise.
         */
        virtual bool start() = 0;

        /**
         * Stop the Thread.
         *
         * @post    The Thread is no longer being run
         * @post    finalize() is called when the Thread is stopped.
         * @return  true if the function did succeed.
         *          false otherwise.
         */
        virtual bool stop() = 0;

        /**
         * Get the periodicity in Seconds. Return zero if non periodic.
         */
        virtual Seconds getPeriod() const = 0 ;

        /**
         * Get the periodicity in nanoseconds. Return zero if non periodic.
         */
        virtual nsecs getPeriodNS() const = 0 ;

        /**
         * Returns whether the thread is running
         */
        virtual bool isRunning() const = 0 ;

        /**
         * Read the name of this task
         */
        virtual const char* getName() const = 0 ;

        /**
         * 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.
         */
        virtual RTOS_TASK * getTask() = 0;

        /**
         * Change the scheduler policy in which this
         * thread runs. 
         * @param 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
         * \b not be scheduled as a priority or real-time process.
         *
         * Your OS can in addition provide other \a 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.
         *
         * @return true if the change could be made.
         */
        virtual bool setScheduler(int sched_type) = 0;

        /**
         * Get the scheduler policy in which this
         * thread runs. 
         * @return An OS-specific value which
         * represents the used scheduler.
         * @see setScheduler
         */
        virtual int getScheduler() const = 0;

        /**
         * Set the priority of this Thread.
         * @param priority The priority given upon construction of this
         * thread. It has to be interpreted in the current OS scheduler.
         * @see setScheduler
         */
        virtual bool setPriority(int priority) = 0;

        /**
         * The priority of this Thread.
         * @return 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 setScheduler
         */
        virtual int getPriority() const = 0;

        /**
         * Yields (but to the back of the scheduler queue) the calling thread.
         */
        virtual void yield() = 0;

        /**
         * The unique thread number.
         */
        unsigned int threadNumber() const { return threadnb; }
    protected:
        /**
         * Threads are given an unique number,
         * which follows thread creation order.
         * @see OS::threads
         */
        int threadnb;
    };
}}

#endif