laelaps::LaeThreadKin Class Reference

#include <laeThreadKin.h>

Inheritance diagram for laelaps::LaeThreadKin:

Public Member Functions
	LaeThreadKin (LaeKinematics &kin)
	Default constructor.
virtual	~LaeThreadKin ()
	Destructor.
int	reload (const LaeTunes &tunes)
	Reload tunable paramaters. More...
virtual void	waitOneCycle ()
	Force calling thread to wait one full execution cycle. 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 int	runThread (const double fHz)
	Run the thread. More...
virtual int	terminateThread ()
	Terminate 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	ThreadKinPrioDft = 99
	default priority
static const double	ThreadKinHzDft = 30.0
	default run rate
static const long	ThreadKinTHealthDft = 5
	monitor health period
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	transToRunning ()
	Ready to Running state transition function. More...
virtual void	exec ()
	Execute watchdog task within scheduled cycle. 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...
virtual void	transToReady ()
	Uninitialized to Ready state transition function. More...
virtual void	transToExit ()
	Any to Exit state transition function. More...

Protected Attributes
LaeKinematics &	m_kin
	kinematics interface
bool	m_bWaitOneCycle
	[not] waiting for one cycle
struct timespec	m_tsSchedHealth
	working health scheduler time stamp
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

Watchdog thread class.

Definition at line 82 of file laeThreadKin.h.

Member Function Documentation

void LaeThreadKin::exec ( )

protectedvirtual

Execute watchdog task within scheduled cycle.

This function executes under the lock/unlock mutex.

Context:

This thread.

Reimplemented from laelaps::LaeThread.

Definition at line 124 of file laeThreadKin.cxx.

References laelaps::LaeKinematics::exec(), m_bWaitOneCycle, laelaps::LaeThread::m_condSync, m_kin, laelaps::LaeThread::m_tsExecThis, m_tsSchedHealth, laelaps::LaeKinematics::monitorHealth(), and ThreadKinTHealthDft.

{
  m_kin.exec();

  // time to monitor health
  if( m_tsSchedHealth < m_tsExecThis )
  { 
    m_kin.monitorHealth();
    m_tsSchedHealth = m_tsExecThis;
    m_tsSchedHealth.tv_sec += ThreadKinTHealthDft;
  }
  
  // caller blocked waiting one execution cycle - signal to unblock
  if( m_bWaitOneCycle )
  {
    m_bWaitOneCycle = false;
    pthread_cond_signal(&m_condSync);
  }
}

int LaeThreadKin::reload

(

const LaeTunes &

tunes

)

Reload tunable paramaters.

This function executes under the lock/unlock mutex.

Definition at line 87 of file laeThreadKin.cxx.

References laelaps::LaeTunes::getKinematicsHz(), laelaps::LaeThread::lock(), laelaps::LaeThread::m_fHz, m_kin, laelaps::LaeKinematics::reload(), laelaps::LaeThread::setHz(), and laelaps::LaeThread::unlock().

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

{
  double  fHz;
  int     rc;

  lock();

  fHz = tunes.getKinematicsHz();

  if( fHz != m_fHz )
  {
    setHz(fHz);
  }

  rc = m_kin.reload(tunes);

  unlock();

  return rc;
}

void LaeThreadKin::transToRunning ( )

protectedvirtual

Ready to Running state transition function.

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

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

Context:

This thread.

Reimplemented from laelaps::LaeThread.

Definition at line 119 of file laeThreadKin.cxx.

References laelaps::LaeThread::m_tsExecThis, and m_tsSchedHealth.

{
  m_tsSchedHealth = m_tsExecThis;
}

void LaeThreadKin::waitOneCycle ( )

virtual

Force calling thread to wait one full execution cycle.

Context:

Calling thread.

Definition at line 108 of file laeThreadKin.cxx.

References laelaps::LaeThread::lock(), m_bWaitOneCycle, laelaps::LaeThread::m_condSync, laelaps::LaeThread::m_mutexSync, and laelaps::LaeThread::unlock().

{
  lock();

  m_bWaitOneCycle = true;

  pthread_cond_wait(&m_condSync, &m_mutexSync);

  unlock();
}

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

• include/Laelaps/laeThreadKin.h
• sw/liblaelaps/laeThreadKin.cxx