#include <laeThreadAsync.h>

Inheritance diagram for laelaps::LaeThreadAsync:

Public Member Functions
	LaeThreadAsync ()
	Default constructor.

virtual	~LaeThreadAsync ()
	Destructor.

virtual int	createThread (LaeAsyncJob *pJob, int nPriority=ThreadAsyncPrioDft)
	Create the thread. More...

virtual int	runThread (const double fHz=ThreadAsyncHzDft)
	Run the thread. More...

virtual int	terminateThread ()
	Terminate the thread. More...

LaeAsyncJob *	getJob ()
	Get attached job. More...

Public Member Functions inherited from laelaps::LaeThread
	LaeThread (const std::string &strThreadName)
	Default constructor.

virtual	~LaeThread ()
	Destructor.

virtual int	createThread (int nPriority)
	Create the thread. More...

virtual void	setHz (const double fHz)
	Calculate thread new full cycle run rate. More...

std::string	getThreadName () const
	Get assigned thread name. More...

int	getThreadPriority () const
	Get thread system scheduling priority. More...

double	getThreadHz () const
	Get thread run full cycle rate. More...

Static Public Attributes
static const double	ThreadAsyncPrioDft = 25
	default priority

static const double	ThreadAsyncHzDft = 1.0
	default run rate

static const char *const	ThreadAsyncNameDft = "Async"
	default name

Static Public Attributes inherited from laelaps::LaeThread
static const int	ThreadPriorityMin = 1
	minimum scheduling priority

static const int	ThreadPriorityMax = 99
	maximum scheduling priority

static const double	ThreadMinHz = 0.001
	minimum thread Hertz More...

Protected Member Functions
virtual void	transToReady ()
	Uninitialized to Ready state transition function. More...

virtual void	transToRunning ()
	Ready to Running state transition function. More...

virtual void	exec ()
	Execute asynchronous task within scheduled cycle. More...

virtual void	transToExit ()
	Any to Exit state transition function. More...

Protected Member Functions inherited from laelaps::LaeThread
void	lock ()
	Lock the I²C bus. More...

void	unlock ()
	Unlock the I²C bus. More...

void	changeState (ThreadState eNewState)
	Change the thread state. More...

void	timedWait (const struct timespec &tsTimeout)
	Timed wait until state change or time out. More...

virtual void	readyBlock ()
	Block indefinitely while in the ready state. More...

virtual void	schedBlock ()
	Block the thread until the next subcycle task is to be run. More...

Protected Attributes
LaeAsyncJob *	m_pJob
	attached asynchronous job - owned by caller

Protected Attributes inherited from laelaps::LaeThread
std::string	m_strThreadName
	thread identifying name

ThreadState	m_eState
	thread state

pthread_mutex_t	m_mutexSync
	synchonization mutex

pthread_cond_t	m_condSync
	synchonization condition

pthread_t	m_thread
	pthread identifier

int	m_nPriority
	thread OS scheduling priority

double	m_fHz
	thread cycle run rate (Hertz)

double	m_fTExec
	task execution cycle period (seconds)

struct timespec	m_tsExecPeriod
	task execution period (converted)

struct timespec	m_tsJitter
	allowable scheduling jitter

struct timespec	m_tsSched
	working scheduler time stamp

struct timespec	m_tsExecLast
	start of last execution time stamp

struct timespec	m_tsExecThis
	start of this execution time stamp

int	m_nSlipErrCnt
	slipped error count leaky bucket

Additional Inherited Members
Public Types inherited from laelaps::LaeThread
enum	ThreadState { ThreadStateUninit, ThreadStateReady, ThreadStateStart, ThreadStateRunning, ThreadStateExit }
	Kinematics thread states. More...

Static Protected Member Functions inherited from laelaps::LaeThread
static void *	thread (void *pArg)
	The thread. More...

Detailed Description

Asynchronous thread class.

Definition at line 200 of file laeThreadAsync.h.

Member Function Documentation

int LaeThreadAsync::createThread	(	LaeAsyncJob *	pJob,
		int	nPriority = `ThreadAsyncPrioDft`
	)

virtual

Create the thread.

The thread remains blocked in the ready state until runThread() is called.

Parameters

pJob	Asynchronous job.
nPriority	Thread OS scheduling priority.

Context:: Calling thread.

Returns: On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 136 of file laeThreadAsync.cxx.

References laelaps::LaeAsyncJob::abort(), laelaps::LaeThread::createThread(), laelaps::LaeAsyncJob::getJobName(), laelaps::LAE_ECODE_BAD_OP, laelaps::LAE_OK, m_pJob, laelaps::LaeThread::m_strThreadName, and ThreadAsyncNameDft.

Referenced by laelaps::LaeRobot::runAsyncJob().

 {
   int   rc;
 
   if( m_pJob == NULL )
   {
     LOGERROR("Creating %s thread with no job.", m_strThreadName.c_str());
     return -LAE_ECODE_BAD_OP;
   }
 
   m_pJob          = pJob;
   m_strThreadName = m_pJob->getJobName();
 
   if( (rc = LaeThread::createThread(nPriority)) != LAE_OK )
   {
     m_pJob->abort(rc);
     m_strThreadName = ThreadAsyncNameDft;
   }
 
   return rc;
 }

void LaeThreadAsync::exec ( )

protectedvirtual

Execute asynchronous task within scheduled cycle.

This function executes under the lock/unlock mutex.

Context:: This thread.

Reimplemented from laelaps::LaeThread.

Definition at line 204 of file laeThreadAsync.cxx.

References laelaps::LaeAsyncJob::abort(), laelaps::LaeThread::changeState(), laelaps::LaeAsyncJob::isDone(), m_pJob, laelaps::LaeAsyncJob::run(), laelaps::LaeAsyncJob::terminate(), and laelaps::LaeThread::ThreadStateExit.

 {
   int   rc;
 
   //
   // No job, the thread should not be running.
   //
   if( m_pJob == NULL )
   {
     changeState(ThreadStateExit);
   }
 
   //
   // Run (a slice) of the job.
   //
   rc = m_pJob->run();
 
   //
   // Failure - abort.
   //
   if( rc < 0 )
   {
     m_pJob->abort(rc);
     changeState(ThreadStateExit);
   }
 
   //
   // Normal completion - terminate.
   //
   else if( m_pJob->isDone() )
   {
     m_pJob->terminate();
     changeState(ThreadStateExit);
   }
 }

LaeAsyncJob* laelaps::LaeThreadAsync::getJob ( )

inline

Get attached job.

Returns: Returns pointer to job, or NULl if no job.

Definition at line 269 of file laeThreadAsync.h.

     {
       return m_pJob;
     }

int LaeThreadAsync::runThread ( const double fHz = ThreadAsyncHzDft )

virtual

Run the thread.

Valid Current State:: ThreadStateReady

New State:: ThreadStateRunning

Context:: Calling thread.

Parameters

fHZ	Thread run rate (Hertz).

Reimplemented from laelaps::LaeThread.

Definition at line 158 of file laeThreadAsync.cxx.

References laelaps::LAE_ECODE_BAD_OP, m_pJob, laelaps::LaeThread::m_strThreadName, and laelaps::LaeThread::runThread().

Referenced by laelaps::LaeRobot::runAsyncJob().

 {
   if( m_pJob == NULL )
   {
     LOGERROR("Running %s thread with no job.", m_strThreadName.c_str());
     return -LAE_ECODE_BAD_OP;
   }
 
   return LaeThread::runThread(fHz);
 }

int LaeThreadAsync::terminateThread ( )

virtual

Terminate the thread.

This function does not return until the thread actually terminates.

Context:: Calling thread.

Returns: On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented from laelaps::LaeThread.

Definition at line 169 of file laeThreadAsync.cxx.

References laelaps::LaeAsyncJob::abort(), laelaps::LaeAsyncJob::isDone(), m_pJob, laelaps::LaeThread::m_strThreadName, laelaps::LaeThread::terminateThread(), and ThreadAsyncNameDft.

Referenced by laelaps::LaeRobot::cancelAsyncJob().

 {
   int   rc;
 
   if( m_pJob != NULL )
   {
     if( !m_pJob->isDone() )
     {
       m_pJob->abort();
     }
   }
 
   rc = LaeThread::terminateThread();
 
   m_strThreadName = ThreadAsyncNameDft;
 
   return rc;
 }

void LaeThreadAsync::transToExit ( )

protectedvirtual

Any to Exit state transition function.

This function is called after entering the Exit state but prior to terminating the thread.

A hook for any derived thread class. A no-op for the base class.

This function does not execute under the lock/unlock mutex.

Context:: This thread.

Reimplemented from laelaps::LaeThread.

Definition at line 240 of file laeThreadAsync.cxx.

References laelaps::LaeAsyncJob::abort(), laelaps::LaeAsyncJob::isDone(), m_pJob, laelaps::LaeThread::m_strThreadName, and ThreadAsyncNameDft.

 {
   if( m_pJob != NULL )
   {
     if( !m_pJob->isDone() )
     {
       m_pJob->abort();
     }
   }
 
   m_strThreadName = ThreadAsyncNameDft;
 }

void LaeThreadAsync::transToReady ( )

protectedvirtual

Uninitialized to Ready state transition function.

This function is called after entering the Ready state but prior to being blocked waiting to be run.

A hook for any derived thread class. A no-op for the base class.

This function does not execute under the lock/unlock mutex.

Context:: This thread.

Reimplemented from laelaps::LaeThread.

Definition at line 188 of file laeThreadAsync.cxx.

References laelaps::LaeAsyncJob::getReady(), and m_pJob.

 {
   if( m_pJob != NULL )
   {
     m_pJob->getReady();
   }
 }

void LaeThreadAsync::transToRunning ( )

protectedvirtual

Ready to Running state transition function.

This function is called after entering the Running state but prior to any run execution.

A hook for any derived thread class. A no-op for the base class.

This function does not execute under the lock/unlock mutex.

Context:: This thread.

Reimplemented from laelaps::LaeThread.

Definition at line 196 of file laeThreadAsync.cxx.

References m_pJob, and laelaps::LaeAsyncJob::start().

 {
   if( m_pJob != NULL )
   {
     m_pJob->start();
   }
 }

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

include/Laelaps/laeThreadAsync.h
sw/liblaelaps/laeThreadAsync.cxx

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation