ControlThread Class Reference

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/src/commands/yarpActionsPlayer/controlThread.h>

Inheritance diagram for ControlThread:

Public Member Functions
action_status_enum	getStatus ()
bool	action_stop ()
bool	action_print ()
bool	action_reset ()
bool	action_forever ()
bool	action_start ()
bool	action_change (action_class *action, robotDriver *driver)
bool	action_getname (std::string &name)
bool	action_setSpeedFactor (double factor=1)
bool	action_resample (double value)
	ControlThread (std::string name, double period)
	~ControlThread ()
bool	threadInit () override
	Initialization method.
void	run () override
	Loop function.
void	setPositionTolerance (double tolerance)
void	setPositionTimeout (double timeloops)
void	setPositionStrictCheck (bool enable)
Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.
	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.
virtual	~PeriodicThread ()
bool	start ()
	Call this to start the thread.
void	step ()
	Call this to "step" the thread rather than starting it.
void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).
void	askToStop ()
	Stop the thread.
bool	isRunning () const
	Returns true when the thread is started, false otherwise.
bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.
bool	setPeriod (double period)
	Set the (new) period of the thread.
double	getPeriod () const
	Return the current period of the thread.
void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.
void	resume ()
	Resume the thread if previously suspended.
void	resetStat ()
	Reset thread statistics.
double	getEstimatedPeriod () const
	Return estimated period since last reset.
void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.
unsigned int	getIterations () const
	Return the number of iterations performed since last reset.
double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.
void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.
int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.
int	getPriority () const
	Query the current priority of the thread, if the OS supports that.
int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Attributes
bool	m_enable_execute_joint_command =false
ControlClock	m_clock

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	threadRelease ()
	Release method.
virtual void	beforeStart ()
	Called just before a new thread starts.
virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Detailed Description

Definition at line 23 of file controlThread.h.

Constructor & Destructor Documentation

ControlThread()

ControlThread::ControlThread	(	std::string	name,
		double	period
	)

Definition at line 117 of file controlThread.cpp.

~ControlThread()

ControlThread::~ControlThread

(

)

Definition at line 123 of file controlThread.cpp.

Member Function Documentation

action_change()

bool ControlThread::action_change	(	action_class *	action,
		robotDriver *	driver
	)

Definition at line 86 of file controlThread.cpp.

action_forever()

bool ControlThread::action_forever

(

)

Definition at line 50 of file controlThread.cpp.

action_getname()

bool ControlThread::action_getname

(

std::string &

name

)

Definition at line 19 of file controlThread.cpp.

action_print()

bool ControlThread::action_print

(

)

Definition at line 34 of file controlThread.cpp.

action_resample()

bool ControlThread::action_resample

(

double

value

)

Definition at line 106 of file controlThread.cpp.

action_reset()

bool ControlThread::action_reset

(

)

Definition at line 41 of file controlThread.cpp.

action_setSpeedFactor()

bool ControlThread::action_setSpeedFactor

(

double

factor = 1

)

Definition at line 96 of file controlThread.cpp.

action_start()

bool ControlThread::action_start

(

)

Definition at line 68 of file controlThread.cpp.

action_stop()

bool ControlThread::action_stop

(

)

Definition at line 26 of file controlThread.cpp.

getStatus()

action_status_enum ControlThread::getStatus

(

)

Definition at line 13 of file controlThread.cpp.

run()

void ControlThread::run ( )

overridevirtual

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.

Definition at line 232 of file controlThread.cpp.

setPositionStrictCheck()

void ControlThread::setPositionStrictCheck

(

bool

enable

)

Definition at line 413 of file controlThread.cpp.

setPositionTimeout()

void ControlThread::setPositionTimeout

(

double

timeloops

)

Definition at line 405 of file controlThread.cpp.

setPositionTolerance()

void ControlThread::setPositionTolerance

(

double

tolerance

)

Definition at line 397 of file controlThread.cpp.

threadInit()

bool ControlThread::threadInit ( )

overridevirtual

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 131 of file controlThread.cpp.

Member Data Documentation

m_clock

ControlClock ControlThread::m_clock

Definition at line 43 of file controlThread.h.

m_enable_execute_joint_command

bool ControlThread::m_enable_execute_joint_command =false

Definition at line 42 of file controlThread.h.

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

• src/commands/yarpActionsPlayer/controlThread.h
• src/commands/yarpActionsPlayer/controlThread.cpp