File thread.hpp¶
- Author
Maximilien Naveau (mnaveau@tue.mpg.de) license License BSD-3-Clause
- Copyright
Copyright (c) 2019, New York University and Max Planck Gesellschaft.
- Date
2019-11-21
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namespace
real_time_tools -
class
RealTimeThread - #include <thread.hpp>
This class allows you to spawn thread.
Its parameter are defined above.
Public Functions
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RealTimeThread() Construct a new ThreadInfo object.
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RealTimeThread(const real_time_tools::RealTimeThread &other) = delete We do not allow copies of this object.
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~RealTimeThread() Destroy the RealTimeThread object.
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int
create_realtime_thread(void *(*thread_function)(void*), void *args = nullptr, ) create_realtime_thread spawns a real time thread if the OS allows it.
- Parameters:
thread_function – [in] the executing function for the thread.
args – [in] arguments to be passed to the thread.
- Returns:
the error code.
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int
join() join join the real time thread
- Returns:
the error code.
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void
block_memory() block_memory block the current and futur memory pages.
see https://wiki.linuxfoundation.org/realtime/documentation/howto/applications/memory#memory-locking for further explanation.
Public Members
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RealTimeThreadParameters
parameters_ Paramter of the real time thread.
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class
RealTimeThreadParameters - #include <thread.hpp>
This class is a data structure allowing the user to share configurations among threads.
These parameter allows you to generate real threads in xenomai and rt_preempt. The same code is compatible with Mac and ubuntu but will run non-real time threads.
warning : initial version, copy pasted from : https://wiki.linuxfoundation.org/realtime/documentation/howto/applications/application_base I did not study things now, so this likely needs improvement (alternative: https://rt.wiki.kernel.org/index.php/Threaded_RT-application_with_memory_locking_and_stack_handling_example) note: if failed as mlockall, run executable with sudo or be part of the real_time group or xenomai group.
Public Functions
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inline
RealTimeThreadParameters() Construct a new RealTimeThreadParameters object.
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inline
~RealTimeThreadParameters() Destroy the RealTimeThreadParameters object.
Public Members
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std::string
keyword_ Used in xenomai to define the thread id.
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int
priority_ Defines the thread priority from 0 to 100.
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int
stack_size_ Define the stack size.
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std::vector<int>
cpu_id_ Define the cpu affinity.
Which means on which cpu(s) the thread is going to run
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int
dedicated_cpu_id_ indicate on which cpu the thread will run (xenomai only)
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int
delay_ns_ - Todo:
Unknow Xenomai parameter
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bool
block_memory_ Defines if the thread should block the memory in a “page” or if several pages can be use.
Switching memory page is time consumming and a non real time operation.
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int
cpu_dma_latency_ Maximum desired latency of the CPU in microseconds.
Set to 0 to get best real-time performance. Set to any negative value if you do not want the thread to change the CPU latency.
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inline
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class