A thread that executes BaseThread logic. More...

#include <WorkerThread.h>

Public Member Functions
	WorkerThread ()
	Default constructor. More...

	WorkerThread (const std::string &name, BaseThread thread, knowledge::KnowledgeBase control, knowledge::KnowledgeBase *data, double hertz=-1.0)
	Constructor deprecated: use version that takes control and data by value. More...

	WorkerThread (const std::string &name, BaseThread *thread, knowledge::KnowledgeBase control, knowledge::KnowledgeBase data, double hertz=-1.0)
	Constructor. More...

	WorkerThread (WorkerThread &&other)=default

	~WorkerThread () noexcept
	Destructor. More...

Protected Member Functions
void	change_frequency (double hertz, utility::TimeValue &current, utility::Duration &frequency, utility::TimeValue &next_epoch, bool &one_shot, bool &blaster)
	Changes the frequency given a hertz rate. More...

void	run (void)
	Starts the thread, with entry point svc() More...

int	svc (void)
	Task loop. More...

Protected Attributes
knowledge::KnowledgeBase	control_
	the control plane to the knowledge base More...

knowledge::KnowledgeBase	data_
	the data plane (the knowledge base) More...

knowledge::containers::Integer	debug_
	flag for whether or not to save debug information in control More...

knowledge::containers::Integer	end_time_
	timestamp of the last svc end More...

knowledge::containers::Integer	executions_
	thread safe start flag that will be sent to the knowledge base on launch of the thread More...

knowledge::containers::Integer	finished_
	thread safe finished flag that will be sent to the knowledge base on completion of the thread More...

double	hertz_ = -1
	hertz rate for worker thread executions More...

knowledge::containers::Integer	last_duration_
	duration of last run More...

knowledge::containers::Integer	last_start_time_
	timestamp of the last svc start More...

knowledge::containers::Integer	max_duration_
	maximum duration of all runs More...

std::thread	me_
	Assignment operator. More...

knowledge::containers::Integer	min_duration_
	minimum duration of all runs More...

std::string	name_
	the name of the contained thread More...

knowledge::containers::Double	new_hertz_
	thread safe hertz reference More...

madara::knowledge::containers::Integer	paused_
	thread safe paused flag that will be sent to the knowledge base to indicate thread activities should pause More...

madara::knowledge::containers::Integer	running_
	thread safe paused flag that will be sent to the knowledge base to indicate thread activities should pause More...

knowledge::containers::Integer	start_time_
	timestamp of the initial svc start More...

knowledge::containers::Integer	started_
	thread safe start flag that will be sent to the knowledge base on launch of the thread More...

std::unique_ptr< BaseThread >	thread_ = nullptr
	the contained thread More...

Friends
class	Threader
	give access to our status flags to the Threader class More...

Detailed Description

A thread that executes BaseThread logic.

Users should

Definition at line 32 of file WorkerThread.h.

Constructor & Destructor Documentation

◆ WorkerThread() [1/4]

madara::threads::WorkerThread::WorkerThread ( )

inline

Default constructor.

Definition at line 41 of file WorkerThread.h.

◆ WorkerThread() [2/4]

madara::threads::WorkerThread::WorkerThread	(	const std::string &	name,
		BaseThread *	thread,
		knowledge::KnowledgeBase *	control,
		knowledge::KnowledgeBase *	data,
		double	hertz = `-1.0`
	)

inline

Constructor deprecated: use version that takes control and data by value.

Parameters

name	the name of the user thread
thread	the user thread
control	the knowledge base that provides a control plane between the data knowledge base and threads
data	the knowledge base that provides user data access
hertz	the hertz rate to run the thread

Definition at line 54 of file WorkerThread.h.

◆ WorkerThread() [3/4]

madara::threads::WorkerThread::WorkerThread	(	const std::string &	name,
		BaseThread *	thread,
		knowledge::KnowledgeBase	control,
		knowledge::KnowledgeBase	data,
		double	hertz = `-1.0`
	)

Constructor.

Parameters

name	the name of the user thread
thread	the user thread
control	the knowledge base that provides a control plane between the data knowledge base and threads
data	the knowledge base that provides user data access
hertz	the hertz rate to run the thread

Definition at line 22 of file WorkerThread.cpp.

◆ WorkerThread() [4/4]

madara::threads::WorkerThread::WorkerThread ( WorkerThread && other )

default

◆ ~WorkerThread()

madara::threads::WorkerThread::~WorkerThread ( )

noexcept

Destructor.

Definition at line 71 of file WorkerThread.cpp.

Member Function Documentation

◆ change_frequency()

void madara::threads::WorkerThread::change_frequency	(	double	hertz,
		utility::TimeValue &	current,
		utility::Duration &	frequency,
		utility::TimeValue &	next_epoch,
		bool &	one_shot,
		bool &	blaster
	)

inlineprotected

Changes the frequency given a hertz rate.

Parameters

hertz	the new hertz rate
current	current time
frequency	an updated frequency value
next_epoch	next time to trigger execution
one_shot	if hertz rate is less than 0, true. Otherwise, false
blaster	if hertz rate is 0, true. Otherwise, false.

Definition at line 17 of file WorkerThread.inl.

◆ run()

void madara::threads::WorkerThread::run ( void )

protected

Starts the thread, with entry point svc()

Definition at line 123 of file WorkerThread.cpp.

◆ svc()

int madara::threads::WorkerThread::svc ( void )

protected

Task loop.

Definition at line 152 of file WorkerThread.cpp.

Friends And Related Function Documentation

◆ Threader

friend class Threader

friend

give access to our status flags to the Threader class

Definition at line 36 of file WorkerThread.h.

Member Data Documentation

◆ control_

knowledge::KnowledgeBase madara::threads::WorkerThread::control_

protected

the control plane to the knowledge base

Definition at line 121 of file WorkerThread.h.

◆ data_

knowledge::KnowledgeBase madara::threads::WorkerThread::data_

protected

the data plane (the knowledge base)

Definition at line 124 of file WorkerThread.h.

◆ debug_

knowledge::containers::Integer madara::threads::WorkerThread::debug_

protected

flag for whether or not to save debug information in control

Definition at line 194 of file WorkerThread.h.

◆ end_time_

knowledge::containers::Integer madara::threads::WorkerThread::end_time_

protected

timestamp of the last svc end

Definition at line 174 of file WorkerThread.h.

◆ executions_

knowledge::containers::Integer madara::threads::WorkerThread::executions_

protected

thread safe start flag that will be sent to the knowledge base on launch of the thread

Definition at line 159 of file WorkerThread.h.

◆ finished_

knowledge::containers::Integer madara::threads::WorkerThread::finished_

protected

thread safe finished flag that will be sent to the knowledge base on completion of the thread

Definition at line 130 of file WorkerThread.h.

◆ hertz_

double madara::threads::WorkerThread::hertz_ = -1

protected

hertz rate for worker thread executions

Definition at line 199 of file WorkerThread.h.

◆ last_duration_

knowledge::containers::Integer madara::threads::WorkerThread::last_duration_

protected

duration of last run

Definition at line 179 of file WorkerThread.h.

◆ last_start_time_

knowledge::containers::Integer madara::threads::WorkerThread::last_start_time_

protected

timestamp of the last svc start

Definition at line 169 of file WorkerThread.h.

◆ max_duration_

knowledge::containers::Integer madara::threads::WorkerThread::max_duration_

protected

maximum duration of all runs

Definition at line 189 of file WorkerThread.h.

◆ me_

std::thread madara::threads::WorkerThread::me_

protected

Assignment operator.

Parameters

input thread information to copy

Definition at line 88 of file WorkerThread.h.

◆ min_duration_

knowledge::containers::Integer madara::threads::WorkerThread::min_duration_

protected

minimum duration of all runs

Definition at line 184 of file WorkerThread.h.

◆ name_

std::string madara::threads::WorkerThread::name_

protected

the name of the contained thread

Definition at line 115 of file WorkerThread.h.

◆ new_hertz_

knowledge::containers::Double madara::threads::WorkerThread::new_hertz_

protected

thread safe hertz reference

Definition at line 153 of file WorkerThread.h.

◆ paused_

madara::knowledge::containers::Integer madara::threads::WorkerThread::paused_

protected

thread safe paused flag that will be sent to the knowledge base to indicate thread activities should pause

Definition at line 136 of file WorkerThread.h.

◆ running_

madara::knowledge::containers::Integer madara::threads::WorkerThread::running_

protected

thread safe paused flag that will be sent to the knowledge base to indicate thread activities should pause

Definition at line 142 of file WorkerThread.h.

◆ start_time_

knowledge::containers::Integer madara::threads::WorkerThread::start_time_

protected

timestamp of the initial svc start

Definition at line 164 of file WorkerThread.h.

◆ started_

knowledge::containers::Integer madara::threads::WorkerThread::started_

protected

thread safe start flag that will be sent to the knowledge base on launch of the thread

Definition at line 148 of file WorkerThread.h.

◆ thread_

std::unique_ptr<BaseThread> madara::threads::WorkerThread::thread_ = nullptr

protected

the contained thread

Definition at line 118 of file WorkerThread.h.

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

include/madara/threads/WorkerThread.h
include/madara/threads/WorkerThread.cpp
include/madara/threads/WorkerThread.inl

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ WorkerThread() [1/4]

◆ WorkerThread() [2/4]

◆ WorkerThread() [3/4]

◆ WorkerThread() [4/4]

◆ ~WorkerThread()

Member Function Documentation

◆ change_frequency()

◆ run()

◆ svc()

Friends And Related Function Documentation

◆ Threader

Member Data Documentation

◆ control_

◆ data_

◆ debug_

◆ end_time_

◆ executions_

◆ finished_

◆ hertz_

◆ last_duration_

◆ last_start_time_

◆ max_duration_

◆ me_

◆ min_duration_

◆ name_

◆ new_hertz_

◆ paused_

◆ running_

◆ start_time_

◆ started_

◆ thread_