An abstraction for a periodic thread. More...

#include <yarp/os/RateThread.h>

Inheritance diagram for yarp::os::RateThread:

Public Member Functions
	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...

Protected Member Functions
bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. More...

void	run () override=0
	Loop function. More...

void	beforeStart () override
	Called just before a new thread starts. More...

void	afterStart (bool success) override
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

An abstraction for a periodic thread.

Deprecated:: since YARP 3.0.0

Definition at line 38 of file RateThread.h.

Constructor & Destructor Documentation

◆ RateThread()

RateThread::RateThread ( int period )

Constructor.

Thread begins in a dormant state. Call RateThread::start to get things going.

Parameters

period The period in milliseconds [ms] between successive calls to the RateThread::run method (remember you need to call RateThread::start first before anything happens)

Definition at line 26 of file RateThread.cpp.

◆ ~RateThread()

RateThread::~RateThread ( )

virtualdefault

Member Function Documentation

◆ afterStart()

void RateThread::afterStart ( bool success )

overrideprotectedvirtual

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

Parameters

success true iff the new thread started successfully.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 131 of file RateThread.cpp.

◆ askToStop()

void RateThread::askToStop ( )

Stop the thread.

Like stop but it does not call join, safe to be called from run().

Definition at line 53 of file RateThread.cpp.

◆ beforeStart()

void RateThread::beforeStart ( )

overrideprotectedvirtual

Called just before a new thread starts.

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

Reimplemented from yarp::os::PeriodicThread.

Definition at line 127 of file RateThread.cpp.

◆ getEstPeriod() [1/2]

double RateThread::getEstPeriod ( )

Return estimated period since last reset.

Definition at line 89 of file RateThread.cpp.

◆ getEstPeriod() [2/2]

void RateThread::getEstPeriod	(	double &	av,
		double &	std
	)

Return estimated period since last reset.

Parameters

av	average value
std	standard deviation

Definition at line 99 of file RateThread.cpp.

◆ getEstUsed() [1/2]

double RateThread::getEstUsed ( )

Return the estimated duration of the run() function since last reset.

Definition at line 94 of file RateThread.cpp.

◆ getEstUsed() [2/2]

void RateThread::getEstUsed	(	double &	av,
		double &	std
	)

Return estimated duration of the run() function since last reset.

Parameters

av	average value
std	standard deviation

Definition at line 106 of file RateThread.cpp.

◆ getIterations()

unsigned int RateThread::getIterations ( )

Return the number of iterations performed since last reset.

Definition at line 84 of file RateThread.cpp.

◆ getPolicy()

int RateThread::getPolicy ( )

Query the current scheduling policy of the thread, if the OS supports that.

Returns: the scheduling policy of the thread.

Definition at line 146 of file RateThread.cpp.

◆ getPriority()

int RateThread::getPriority ( )

Query the current priority of the thread, if the OS supports that.

Returns: the priority of the thread.

Definition at line 141 of file RateThread.cpp.

◆ getRate()

double RateThread::getRate ( )

Return the current rate of the thread.

Returns: thread current rate [ms].

Definition at line 38 of file RateThread.cpp.

◆ isRunning()

bool RateThread::isRunning ( )

Returns true when the thread is started, false otherwise.

Definition at line 69 of file RateThread.cpp.

◆ isSuspended()

bool RateThread::isSuspended ( )

Returns true when the thread is suspended, false otherwise.

Definition at line 43 of file RateThread.cpp.

◆ resetStat()

void RateThread::resetStat ( )

Reset thread statistics.

Definition at line 113 of file RateThread.cpp.

◆ resume()

void RateThread::resume ( )

Resume the thread if previously suspended.

Definition at line 79 of file RateThread.cpp.

◆ run()

void yarp::os::RateThread::run ( )

overrideprotectedpure virtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

◆ setPriority()

int RateThread::setPriority	(	int	priority,
		int	policy = `-1`
	)

Set the priority and scheduling policy of the thread, if the OS supports that.

Parameters

priority	the new priority of the thread.
policy	the scheduling policy of the thread

Returns: -1 if the priority cannot be set.

Note: The thread policy is highly OS dependent and a right combination of priority and policy should be used. In some platform changing thread priorities is subject to having the right permission. For example, the following combinations are supported on most Linux platforms: SCHED_OTHER : policy=0, priority=[0 .. 0] SCHED_FIFO : policy=1, priority=[1 .. 99] SCHED_RR : policy=2, priority=[1 .. 99]

Definition at line 136 of file RateThread.cpp.

◆ setRate()

bool RateThread::setRate ( int period )

Set the (new) rate of the thread.

Parameters

period the rate [ms]

Returns: true.

Definition at line 33 of file RateThread.cpp.

◆ start()

bool RateThread::start ( )

Call this to start the thread.

Blocks until initThread() is executed.

Definition at line 64 of file RateThread.cpp.

◆ step()

bool RateThread::step ( )

Call this to "step" the thread rather than starting it.

This will execute at most one call to doLoop before returning.

Definition at line 58 of file RateThread.cpp.

◆ stop()

void RateThread::stop ( )

Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

Actually calls join. This will deadlock if called from run(), use askToStop() instead.

Definition at line 48 of file RateThread.cpp.

◆ suspend()

void RateThread::suspend ( )

Suspend the thread, the thread keeps running by doLoop is never executed.

Definition at line 74 of file RateThread.cpp.

◆ threadInit()

bool RateThread::threadInit ( )

overrideprotectedvirtual

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::PeriodicThread.

Definition at line 118 of file RateThread.cpp.

◆ threadRelease()

void RateThread::threadRelease ( )

overrideprotectedvirtual

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::PeriodicThread.

Definition at line 123 of file RateThread.cpp.

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

src/libYARP_os/src/yarp/os/RateThread.h
src/libYARP_os/src/yarp/os/RateThread.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RateThread()

◆ ~RateThread()

Member Function Documentation

◆ afterStart()

◆ askToStop()

◆ beforeStart()

◆ getEstPeriod() [1/2]

◆ getEstPeriod() [2/2]

◆ getEstUsed() [1/2]

◆ getEstUsed() [2/2]

◆ getIterations()

◆ getPolicy()

◆ getPriority()

◆ getRate()

◆ isRunning()

◆ isSuspended()

◆ resetStat()

◆ resume()

◆ run()

◆ setPriority()

◆ setRate()

◆ start()

◆ step()

◆ stop()

◆ suspend()

◆ threadInit()

◆ threadRelease()