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 ()

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

bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. 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...

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

Runnable *	getAttachment () const

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor. More...

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	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 () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period 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	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	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 () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Additional Inherited Members

Detailed Description

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

Deprecated:: since YARP 3.3

Definition at line 240 of file RateThread.h.

Constructor & Destructor Documentation

◆ RateThreadWrapper() [1/3]

RateThreadWrapper::RateThreadWrapper ( )

Default constructor.

Definition at line 165 of file RateThread.cpp.

◆ RateThreadWrapper() [2/3]

RateThreadWrapper::RateThreadWrapper ( Runnable * helper )

Definition at line 173 of file RateThread.cpp.

◆ RateThreadWrapper() [3/3]

RateThreadWrapper::RateThreadWrapper ( Runnable & helper )

Definition at line 180 of file RateThread.cpp.

◆ ~RateThreadWrapper()

RateThreadWrapper::~RateThreadWrapper ( )

virtual

Definition at line 187 of file RateThread.cpp.

Member Function Documentation

◆ afterStart()

void RateThreadWrapper::afterStart ( bool success )

overridevirtual

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 266 of file RateThread.cpp.

◆ attach() [1/2]

bool RateThreadWrapper::attach ( Runnable & helper )

virtual

Definition at line 201 of file RateThread.cpp.

◆ attach() [2/2]

bool RateThreadWrapper::attach ( Runnable * helper )

virtual

Definition at line 209 of file RateThread.cpp.

◆ beforeStart()

void RateThreadWrapper::beforeStart ( )

overridevirtual

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 273 of file RateThread.cpp.

◆ close()

void RateThreadWrapper::close ( )

Definition at line 234 of file RateThread.cpp.

◆ detach()

void RateThreadWrapper::detach ( )

Definition at line 192 of file RateThread.cpp.

◆ getAttachment()

Runnable * RateThreadWrapper::getAttachment ( ) const

Definition at line 280 of file RateThread.cpp.

◆ open()

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

Definition at line 217 of file RateThread.cpp.

◆ run()

void RateThreadWrapper::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 244 of file RateThread.cpp.

◆ stop()

void RateThreadWrapper::stop ( )

Definition at line 239 of file RateThread.cpp.

◆ threadInit()

bool RateThreadWrapper::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 251 of file RateThread.cpp.

◆ threadRelease()

void RateThreadWrapper::threadRelease ( )

overridevirtual

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 259 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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RateThreadWrapper() [1/3]

◆ RateThreadWrapper() [2/3]

◆ RateThreadWrapper() [3/3]

◆ ~RateThreadWrapper()

Member Function Documentation

◆ afterStart()

◆ attach() [1/2]

◆ attach() [2/2]

◆ beforeStart()

◆ close()

◆ detach()

◆ getAttachment()

◆ open()

◆ run()

◆ stop()

◆ threadInit()

◆ threadRelease()