laelaps::LaeThreadWd Class Reference

#include <laeThreadWd.h>

Inheritance diagram for laelaps::LaeThreadWd:

Public Member Functions
	LaeThreadWd (LaeWd &hwif)
	Default constructor.
virtual	~LaeThreadWd ()
	Destructor.
int	reload (const LaeTunes &tunes)
	Reload tunable paramaters. 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 Member Functions
static double	optimizeHz (const double fWatchDogTimeout)
	Optimize thread hertz rate given the watchdog timeout value. More...

Static Public Attributes
static const double	ThreadWdPrioDft = 50
	default priority
static const double	ThreadWdHzDft = 1.0
	default run rate
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	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	transToRunning ()
	Ready to Running state transition function. More...
virtual void	transToExit ()
	Any to Exit state transition function. More...

Protected Attributes
LaeWd &	m_hwif
	hardware interface
LaeWatchDogReset	m_reset
	sub-processor reset
LaeBattery	m_battery
	battery and energy monitor
LaeAlarms	m_alarms
	alarm monitor
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 89 of file laeThreadWd.h.

Member Function Documentation

void LaeThreadWd::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 112 of file laeThreadWd.cxx.

References laelaps::LaeWd::exec(), m_alarms, m_battery, m_hwif, laelaps::LaeBattery::update(), and laelaps::LaeAlarms::update().

{
  m_hwif.exec();
  m_battery.update();
  m_alarms.update();
}

double LaeThreadWd::optimizeHz ( const double  fWatchDogTimeout )

static

Optimize thread hertz rate given the watchdog timeout value.

Parameters

fWatchDogTimeout

Seconds.

Returns

Returns hertz.

Definition at line 79 of file laeThreadWd.cxx.

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

{
  double  t;

  t = fWatchDogTimeout / 2.0 - 0.001;
  if( t > LaeThreadWd::ThreadWdHzDft )
  {
    t = LaeThreadWd::ThreadWdHzDft;
  }
  return t;
}

int LaeThreadWd::reload

(

const LaeTunes &

tunes

)

Reload tunable paramaters.

This function executes under the lock/unlock mutex.

Definition at line 99 of file laeThreadWd.cxx.

References laelaps::LaeThread::lock(), m_hwif, laelaps::LaeWd::reload(), and laelaps::LaeThread::unlock().

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

{
  int     rc;

  lock();

  rc = m_hwif.reload(tunes);

  unlock();

  return rc;
}

---

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

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