YARP  2.3.70.1
Yet Another Robot Platform
yarp::os::RateThreadWrapper Class Reference

This class takes a Runnable instance and wraps a thread around it. More...

#include <yarp/os/RateThread.h>

+ Inheritance diagram for yarp::os::RateThreadWrapper:

Public Member Functions

 RateThreadWrapper ()
 Default constructor. More...
 
 RateThreadWrapper (Runnable *helper)
 
 RateThreadWrapper (Runnable &helper)
 
virtual ~RateThreadWrapper ()
 
void detach ()
 
virtual bool attach (Runnable &helper)
 
virtual bool attach (Runnable *helper)
 
bool open (double framerate=-1, bool polling=false)
 
void close ()
 
void stop ()
 
virtual void run () YARP_OVERRIDE
 Loop function. More...
 
virtual bool threadInit () YARP_OVERRIDE
 Initialization method. More...
 
virtual void threadRelease () YARP_OVERRIDE
 Release method. More...
 
virtual void afterStart (bool success) YARP_OVERRIDE
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 
virtual void beforeStart () YARP_OVERRIDE
 Called just before a new thread starts. More...
 
RunnablegetAttachment () const
 
- Public Member Functions inherited from yarp::os::RateThread
 RateThread (int period)
 Constructor. More...
 
virtual ~RateThread ()
 
bool start ()
 Call this to start the thread. More...
 
bool step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning ()
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended ()
 Returns true when the thread is suspended, false otherwise. More...
 
bool setRate (int period)
 Set the (new) rate of the thread. More...
 
double getRate ()
 Return the current rate of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstPeriod ()
 Return estimated period since last reset. More...
 
void getEstPeriod (double &av, double &std)
 Return estimated period since last reset. More...
 
unsigned int getIterations ()
 Return the number of iterations performed since last reset. More...
 
double getEstUsed ()
 Return the estimated duration of the run() function since last reset. More...
 
void getEstUsed (double &av, double &std)
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority ()
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy ()
 Query the current scheduling policy of the thread, if the OS supports that. More...
 

Private Attributes

Runnablehelper
 
int owned
 

Detailed Description

This class takes a Runnable instance and wraps a thread around it.

This class is under development - API may change a lot.

Definition at line 213 of file RateThread.h.

Constructor & Destructor Documentation

◆ RateThreadWrapper() [1/3]

RateThreadWrapper::RateThreadWrapper ( )

Default constructor.

Definition at line 370 of file RateThread.cpp.

◆ RateThreadWrapper() [2/3]

RateThreadWrapper::RateThreadWrapper ( Runnable helper)

Definition at line 376 of file RateThread.cpp.

◆ RateThreadWrapper() [3/3]

RateThreadWrapper::RateThreadWrapper ( Runnable helper)

Definition at line 381 of file RateThread.cpp.

◆ ~RateThreadWrapper()

RateThreadWrapper::~RateThreadWrapper ( )
virtual

Definition at line 386 of file RateThread.cpp.

Member Function Documentation

◆ afterStart()

void RateThreadWrapper::afterStart ( bool  success)
virtual

Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Parameters
successtrue iff the new thread started successfully.

Reimplemented from yarp::os::RateThread.

Definition at line 461 of file RateThread.cpp.

◆ attach() [1/2]

bool RateThreadWrapper::attach ( Runnable helper)
virtual

Definition at line 400 of file RateThread.cpp.

◆ attach() [2/2]

bool RateThreadWrapper::attach ( Runnable helper)
virtual

Definition at line 407 of file RateThread.cpp.

◆ beforeStart()

void RateThreadWrapper::beforeStart ( )
virtual

Called just before a new thread starts.

This method is executed by the same thread that calls start().

Reimplemented from yarp::os::RateThread.

Definition at line 467 of file RateThread.cpp.

◆ close()

void RateThreadWrapper::close ( void  )

Definition at line 433 of file RateThread.cpp.

◆ detach()

void RateThreadWrapper::detach ( )

Definition at line 390 of file RateThread.cpp.

◆ getAttachment()

Runnable * RateThreadWrapper::getAttachment ( ) const

Definition at line 473 of file RateThread.cpp.

◆ open()

bool RateThreadWrapper::open ( double  framerate = -1,
bool  polling = false 
)

Definition at line 414 of file RateThread.cpp.

◆ run()

void RateThreadWrapper::run ( )
virtual

Loop function.

This is the thread itself.

Implements yarp::os::RateThread.

Definition at line 441 of file RateThread.cpp.

◆ stop()

void RateThreadWrapper::stop ( )

Definition at line 437 of file RateThread.cpp.

◆ threadInit()

bool RateThreadWrapper::threadInit ( )
virtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::RateThread.

Definition at line 447 of file RateThread.cpp.

◆ threadRelease()

void RateThreadWrapper::threadRelease ( )
virtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::RateThread.

Definition at line 455 of file RateThread.cpp.

Member Data Documentation

◆ helper

Runnable* yarp::os::RateThreadWrapper::helper
private

Definition at line 215 of file RateThread.h.

◆ owned

int yarp::os::RateThreadWrapper::owned
private

Definition at line 216 of file RateThread.h.


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