Event loop and concurrency primitive for Motorcortex modules. More...

#include <ct_task.h>

Public Member Functions
	Task (const char name, parameter_server::Parameter parent)
	Creates new task. More...

virtual	~Task ()
	Destructor brings all the task modules to a destroy phase.

	Task ()=delete
	Default constructor is deleted.

	Task (Task &orig)=delete
	Copy constructors are deleted.

Task &	operator= (Task &orig)=delete
	Copy constructors are deleted.

void	setName (const char *name)
	Sets the name of the task. More...

const char *	getName () const
	Returns the name of the task. More...

bool	running () const
	Returns true if task is running.

void	setStackSize (uint64_t size_bytes)
	Sets stack size of the task bytes. More...

uint64_t	getStackSize () const
	Returns stack size of the task im bytes. More...

void	add (Module *module)
	Adds module to the task. More...

void	add (const std::vector< Module * > &modules)
	Adds list of modules to the task. More...

void	configure ()
	Starts Configuration Phase of the task. More...

void	start (uint64_t cycle_time_micro_s, TaskSched task_sched, const std::vector< uint32_t > &cpu_affinity_list={}, uint32_t priority=0)
	Starts Operation Phase of the task. More...

void	start (cmd_line::Task)

void	stop ()
	Stops Operation Phase of the task. More...

void	setCycleTimeMicroS (uint64_t cycle_time_micro_s)
	Sets a cycle time of the event-loop of the task. More...

uint64_t	getCycleMicroS () const
	Gets cycle time of the event-loop of the task in microseconds. More...

double	getCycleTimeS () const
	Gets cycle time of the event-loop of the task in seconds. More...

uint64_t	getNrOfCycles () const
	Gets number of execution cycles. More...

bool	setSchedPolicy (uint32_t policy)
	Sets task scheduler policy. More...

uint32_t	getSchedPolicy () const
	Gets task scheduler policy. More...

bool	setSchedPriority (int priority)
	Sets task scheduler priority. More...

int	getSchedPriority () const
	Gets task scheduler priority. More...

bool	setCpuAffinity (const std::vector< uint32_t > &cpu_affinity_list)
	Binds task to the list of CPUs. More...

const std::vector< uint32_t > &	getCpuAffinity () const
	Gets list of CPUs to which task is bound. More...

Detailed Description

Event loop and concurrency primitive for Motorcortex modules.

Constructor & Destructor Documentation

◆ Task()

mcx::container::Task::Task	(	const char *	name,
		parameter_server::Parameter *	parent
	)

Creates new task.

Parameters

name	- unique name.
parameter_server	- pointer to the root.

Member Function Documentation

◆ add() [1/2]

void mcx::container::Task::add ( const std::vector< Module * > & modules )

Adds list of modules to the task.

Parameters

modules - list of pointers to the modules.

◆ add() [2/2]

void mcx::container::Task::add ( Module * module )

Adds module to the task.

Parameters

module - pointer to the module.

◆ configure()

void mcx::container::Task::configure ( )

Starts Configuration Phase of the task.

◆ getCpuAffinity()

const std::vector< uint32_t > & mcx::container::Task::getCpuAffinity ( ) const

Gets list of CPUs to which task is bound.

Returns: list of CPUs to which task is bound.

◆ getCycleMicroS()

uint64_t mcx::container::Task::getCycleMicroS ( ) const

Gets cycle time of the event-loop of the task in microseconds.

Returns: cycle time in microseconds.

◆ getCycleTimeS()

double mcx::container::Task::getCycleTimeS ( ) const

Gets cycle time of the event-loop of the task in seconds.

Returns: cycle time in seconds.

◆ getName()

const char * mcx::container::Task::getName ( ) const

Returns the name of the task.

Returns: name of the task.

◆ getNrOfCycles()

uint64_t mcx::container::Task::getNrOfCycles ( ) const

Gets number of execution cycles.

Returns: number of execution cycles.

◆ getSchedPolicy()

uint32_t mcx::container::Task::getSchedPolicy ( ) const

Gets task scheduler policy.

Returns: scheduler policy.

◆ getSchedPriority()

int mcx::container::Task::getSchedPriority ( ) const

Gets task scheduler priority.

Returns: scheduler priority of the task.

◆ getStackSize()

uint64_t mcx::container::Task::getStackSize ( ) const

Returns stack size of the task im bytes.

Returns: stack size in bytes.

◆ setCpuAffinity()

bool mcx::container::Task::setCpuAffinity ( const std::vector< uint32_t > & cpu_affinity_list )

Binds task to the list of CPUs.

Parameters

cpu_affinity_list - list of CPUs, to which the task is bound to.

Returns: true on success.

◆ setCycleTimeMicroS()

void mcx::container::Task::setCycleTimeMicroS ( uint64_t cycle_time_micro_s )

Sets a cycle time of the event-loop of the task.

Parameters

cycle_time_micro_s - new cycle time in microseconds.

◆ setName()

void mcx::container::Task::setName ( const char * name )

Sets the name of the task.

Parameters

name	- name of the task.

◆ setSchedPolicy()

bool mcx::container::Task::setSchedPolicy ( uint32_t policy )

Sets task scheduler policy.

Parameters

policy - new scheduler policy: SCHED_OTHER, SCHED_FIFO etc.:

Returns: true on success.

Note: For more information about Linux scheduler policies check: http://man7.org/linux/man-pages/man7/sched.7.html

◆ setSchedPriority()

bool mcx::container::Task::setSchedPriority ( int priority )

Sets task scheduler priority.

Tasks scheduled with SCHED_OTHER (NORMAL) have static priority 0. Processes scheduled under SCHED_FIFO or SCHED_RR (REALTIME) can have a static priority in the range 1 to 99.

Returns: true on success.

◆ setStackSize()

void mcx::container::Task::setStackSize ( uint64_t size_bytes )

Sets stack size of the task bytes.

Parameters

size_bytes - new size of the stack.

◆ start()

void mcx::container::Task::start	(	uint64_t	cycle_time_micro_s,
		TaskSched	task_sched,
		const std::vector< uint32_t > &	cpu_affinity_list = `{}`,
		uint32_t	priority = `0`
	)

Starts Operation Phase of the task.

Parameters

cycle_time_micro_s	- a cycle time of the event loop of the task.
task_sched	- scheduler policy of the task: REALTIME for the tasks, which require realtime and NORMAL for everything else.
cpu_affinity_list	- binding task to the list of CPUs.
priority	- tasks scheduled with NORMAL priority have static priority 0, processes scheduled under REALTIME can have a static priority in the range 1 to 99.

Example Usage:: // Start control task with cycle-time 1000 microseconds,

// realtime scheduling policy on CPU 0 with priority 80.

control_task.start(1000, container::TaskSched::REALTIME , {0}, 80);

// Start publisher task with cycle-time 1000 microseconds,

// non-realtime scheduling policy on CPU 1, 2.

comm_task.start(1000, container::TaskSched::NORMAL, {1, 2});

// Start logic task with cycle-time 5000 microseconds,

// non-realtime scheduling policy on any non-isolated CPU.

logic_task.start(5000, container::TaskSched::NORMAL);

◆ stop()

void mcx::container::Task::stop ( )

Stops Operation Phase of the task.

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

container/ct_task.h
container/ct_task.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ configure()

◆ getCpuAffinity()

◆ getCycleMicroS()

◆ getCycleTimeS()

◆ getName()

◆ getNrOfCycles()

◆ getSchedPolicy()

◆ getSchedPriority()

◆ getStackSize()

◆ setCpuAffinity()

◆ setCycleTimeMicroS()

◆ setName()

◆ setSchedPolicy()

◆ setSchedPriority()

◆ setStackSize()

◆ start()

◆ stop()