#include <mtsTaskPeriodic.h>

Inheritance diagram for mtsTaskPeriodic:

Public Types
typedef mtsTaskContinuous	BaseType
Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType
Public Types inherited from mtsTask
typedef mtsComponent	BaseType
Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Member Functions
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)
	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)
	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)
virtual	~mtsTaskPeriodic ()
void	Suspend (void) override
double	GetPeriodicity (void) const
bool	IsPeriodic (void) const override
Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)
	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)
virtual	~mtsTaskContinuous ()
void	Create (void *data=0) override
void	Start (void) override
void	Kill (void) override
virtual bool	CreatesThread (void) const
Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)
virtual	~mtsTask ()
virtual void	OnStartupException (const std::exception &excp)
virtual void	Run (void)=0
virtual void	OnRunException (const std::exception &excp)
void	Configure (const std::string &CMN_UNUSED(filename)="") override
void	SetInitializationDelay (double delay)
void	Create (void) override
double	GetAveragePeriod (void) const
const std::string	GetDefaultStateTableName (void) const
mtsStateTable *	GetDefaultStateTable (void)
mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED) override
mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY) override
virtual bool	WaitToStart (double timeout)
virtual bool	WaitToTerminate (double timeout)
virtual void	WaitForWakeup (void)
virtual void	Wakeup (void)
void	ProcessManagerCommandsIfNotActive ()
bool	CheckForOwnThread (void) const
virtual bool	IsOverranPeriod (void) const
virtual void	ResetOverranPeriod (void)
Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)
virtual	~mtsComponent ()
const std::string &	GetName (void) const
void	GetName (std::string &placeHolder) const
void	AddTag (const std::string &tag)
const std::set< std::string > &	GetTags (void) const
void	SetName (const std::string &componentName)
virtual void	Configure (const std::string &filename="")
bool	CreateAndWait (double timeoutInSeconds)
bool	StartAndWait (double timeoutInSeconds)
bool	KillAndWait (double timeoutInSeconds)
virtual void	Startup (void)
virtual void	Cleanup (void)
mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)
CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)
virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)
std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const
std::vector< std::string >	GetNamesOfInterfacesProvided (void) const
std::vector< std::string >	GetNamesOfInterfacesOutput (void) const
bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const
bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const
bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const
mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const
mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const
size_t	GetNumberOfInterfacesProvided (void) const
size_t	GetNumberOfInterfacesOutput (void) const
bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName)
mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)
CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)
virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)
std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const
std::vector< std::string >	GetNamesOfInterfacesRequired (void) const
std::vector< std::string >	GetNamesOfInterfacesInput (void) const
const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)
mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)
mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const
size_t	GetNumberOfInterfacesRequired (void) const
size_t	GetNumberOfInterfacesInput (void) const
bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName)
mtsStateTable *	GetStateTable (const std::string &stateTableName)
bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)
void	UseSeparateLogFileDefault (bool forwardToLogger=true)
void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)
void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)
cmnLogger::StreamBufType *	GetLogMultiplexer (void) const override
bool	AreAllInterfacesRequiredConnected (const bool log=false)
bool	IsRunning (void) const
bool CISST_DEPRECATED	Running (void) const
bool	IsStarted (void) const
bool	IsTerminated (void) const
bool	IsEndTask (void) const
const mtsComponentState &	GetState (void) const
void	GetState (mtsComponentState &state) const
void	ToStream (std::ostream &outputStream) const override
bool	SetReplayMode (void)
bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)
bool	SetReplayTime (const double time)
Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)
virtual const cmnClassServicesBase *	Services (void) const =0
bool	ReconstructFrom (const cmnGenericObject &other)
std::string	ToString (void) const
virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter=' ', bool headerOnly=false, const std::string &headerPrefix="") const
virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter=' ')
virtual void	SerializeRaw (std::ostream &outputStream) const
virtual void	DeSerializeRaw (std::istream &inputStream)
virtual size_t	ScalarNumber (void) const
virtual bool	ScalarNumberIsFixed (void) const
virtual double	Scalar (const size_t CMN_UNUSED(index)) const CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Member Functions
void *	RunInternal (void *argument) override
void	StartupInternal (void) override
void	CleanupInternal (void) override
void	StartInternal (void) override
Protected Member Functions inherited from mtsTask
virtual const mtsManagerComponentServices *	GetManagerComponentServices (void) const override
void	RunEventHandler (void)
void	ChangeStateEventHandler (const mtsComponentState &newState)
mtsExecutionResult	RunEvent (bool check=true)
void	DoRunInternal (void)
void	Sleep (double timeInSeconds)
mtsStateIndex::TimeTicksType	GetTick (void) const
virtual void	SaveThreadStartData (void *data)
virtual void	SetThreadReturnValue (void *returnValue)
void	ChangeState (mtsComponentState::Enum newState)
bool	WaitForState (mtsComponentState desiredState, double timeout) override
Protected Member Functions inherited from mtsComponent
	mtsComponent (void)
	mtsComponent (const mtsComponent &other)
void	Initialize (void)
mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)
mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)
mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)
mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)
mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)
void	KillSeparateLogFile (void)
size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)
size_t	ProcessQueuedCommands (void)
size_t	ProcessQueuedEvents (void)
mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services.
bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces.
void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)
void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)
void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)
void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

Protected Attributes
osaThreadBuddy	ThreadBuddy
double	Period
osaAbsoluteTime	AbsoluteTimePeriod
bool	IsHardRealTime
Protected Attributes inherited from mtsTaskContinuous
bool	NewThread
bool	CaptureThread
Protected Attributes inherited from mtsTask
osaThread	Thread
double	InitializationDelay
osaMutex	StateChange
osaThreadSignal	StateChangeSignal
mtsStateTable	StateTable
bool	OverranPeriod
void *	ThreadStartData
void *	ReturnValue
mtsCallableVoidBase *	InterfaceProvidedToManagerCallable
mtsInterfaceRequired *	ExecIn
mtsInterfaceProvided *	ExecOut
mtsFunctionVoid	RunEventInternal
bool	RunEventCalled
mtsFunctionWrite	ChangeStateEvent
Protected Attributes inherited from mtsComponent
std::string	Name
mtsComponentState	State
std::set< std::string >	mTags
mtsInterfaceProvided *	InterfaceProvidedToManager
bool	UseSeparateLogFileFlag
cmnLogger::StreamBufType *	LoDMultiplexerStreambuf
std::ofstream *	LogFile
InterfacesProvidedMapType	InterfacesProvided
InterfacesOutputMapType	InterfacesOutput
InterfacesRequiredMapType	InterfacesRequired
InterfacesInputMapType	InterfacesInput
StateTableMapType	StateTables
mtsManagerComponentServices *	ManagerComponentServices
mtsFunctionWrite	EventGeneratorChangeState
bool	ReplayMode

Additional Inherited Members
Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException
Protected Types inherited from mtsComponent
typedef cmnNamedMap< mtsInterfaceProvided >	InterfacesProvidedMapType
typedef cmnNamedMap< mtsInterfaceOutput >	InterfacesOutputMapType
typedef cmnNamedMap< mtsInterfaceRequired >	InterfacesRequiredMapType
typedef cmnNamedMap< mtsInterfaceInput >	InterfacesInputMapType
typedef cmnNamedMap< mtsStateTable >	StateTableMapType

Detailed Description

This class inherits from mtsTaskContinuous and specializes it to support periodic loops, where the user-supplied Run method is called at a defined period. It also has a mechanism to make the task hard real time, assuming that the underlying operating system provides that capability.

Member Typedef Documentation

◆ BaseType

typedef mtsTaskContinuous mtsTaskPeriodic::BaseType

Constructor & Destructor Documentation

◆ mtsTaskPeriodic() [1/3]

mtsTaskPeriodic::mtsTaskPeriodic	(	const std::string &	name,
		double	periodicityInSeconds,
		bool	isHardRealTime = false,
		unsigned int	sizeStateTable = 256,
		bool	newThread = true )

Create a task with name 'name', periodicity, and a flag that sets if the task needs to be hard real time.

Parameters

name	The name of the task
periodicityInSeconds	The task period, in seconds
isHardRealTime	True if task should run in hard real time
sizeStateTable	The history size of the state table
newThread	True if a new thread should be created for this task

Note: See note in mtsTask regarding length of string name. See note in mtsTaskContinuous regarding newThread parameter.

◆ mtsTaskPeriodic() [2/3]

mtsTaskPeriodic::mtsTaskPeriodic	(	const std::string &	name,
		const osaAbsoluteTime &	periodicity,
		bool	isHardRealTime = false,
		unsigned int	sizeStateTable = 256,
		bool	newThread = true )

◆ mtsTaskPeriodic() [3/3]

mtsTaskPeriodic::mtsTaskPeriodic ( const mtsTaskPeriodicConstructorArg & arg )

◆ ~mtsTaskPeriodic()

virtual mtsTaskPeriodic::~mtsTaskPeriodic ( )

virtual

Default Destructor.

Member Function Documentation

◆ CleanupInternal()

void mtsTaskPeriodic::CleanupInternal ( void )

overrideprotectedvirtual

The member function that is executed once the task terminates. This does some cleanup work

Reimplemented from mtsTask.

◆ GetPeriodicity()

double mtsTaskPeriodic::GetPeriodicity ( void ) const

Return the periodicity of the task, in seconds

◆ IsPeriodic()

bool mtsTaskPeriodic::IsPeriodic ( void ) const

overridevirtual

Return true if thread is periodic. Currently, returns true if the thread was created with a period > 0.

Reimplemented from mtsTask.

◆ RunInternal()

void * mtsTaskPeriodic::RunInternal ( void * argument )

overrideprotectedvirtual

The member function that is passed as 'start routine' argument for thread creation.

Reimplemented from mtsTaskContinuous.

◆ StartInternal()

void mtsTaskPeriodic::StartInternal ( void )

overrideprotectedvirtual

Called from Start

Reimplemented from mtsTaskContinuous.

◆ StartupInternal()

void mtsTaskPeriodic::StartupInternal ( void )

overrideprotectedvirtual

The member funtion that is executed as soon as thread gets created. It does some housekeeping before the user code can be executed as real time.

Reimplemented from mtsTask.

◆ Suspend()

void mtsTaskPeriodic::Suspend ( void )

overridevirtual

Suspend the execution of the task

Reimplemented from mtsTaskContinuous.

Member Data Documentation

◆ AbsoluteTimePeriod

osaAbsoluteTime mtsTaskPeriodic::AbsoluteTimePeriod

protected

◆ IsHardRealTime

bool mtsTaskPeriodic::IsHardRealTime

protected

True if the task is hard real time. It is always false for non-real time systems.

◆ Period

double mtsTaskPeriodic::Period

protected

The period of the task, in seconds.

◆ ThreadBuddy

osaThreadBuddy mtsTaskPeriodic::ThreadBuddy

protected

The OS independent thread buddy, that makes the thread real-time on ALL platforms.

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

tmp/cisst-saw/cisst/cisstMultiTask/mtsTaskPeriodic.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseType

Constructor & Destructor Documentation

◆ mtsTaskPeriodic() [1/3]

◆ mtsTaskPeriodic() [2/3]

◆ mtsTaskPeriodic() [3/3]

◆ ~mtsTaskPeriodic()

Member Function Documentation

◆ CleanupInternal()

◆ GetPeriodicity()

◆ IsPeriodic()

◆ RunInternal()

◆ StartInternal()

◆ StartupInternal()

◆ Suspend()

Member Data Documentation

◆ AbsoluteTimePeriod

◆ IsHardRealTime

◆ Period

◆ ThreadBuddy