PeriodicTask Class Reference

#include <PeriodicTask.h>

Inheritance diagram for PeriodicTask:

Collaboration diagram for PeriodicTask:

Public Member Functions
	PeriodicTask (PeriodicTaskManager *taskManager, float period, std::string name)
void	start ()
void	stop ()
void	printStatus ()
void	clearMax ()
bool	isSlow ()
virtual void	init ()=0
virtual void	run ()=0
virtual void	cleanup ()=0
virtual	~PeriodicTask ()
float	getPeriod ()
float	getRuntime ()
float	getMaxPeriod ()
float	getMaxRuntime ()

Private Member Functions
void	loopFunction ()

Private Attributes
float	_period
volatile bool	_running = false
float	_lastRuntime = 0
float	_lastPeriodTime = 0
float	_maxPeriod = 0
float	_maxRuntime = 0
std::string	_name
std::thread	_thread

Detailed Description

A single periodic task which will call run() at the given frequency

Definition at line 19 of file PeriodicTask.h.

Constructor & Destructor Documentation

PeriodicTask::PeriodicTask	(	PeriodicTaskManager *	taskManager,
		float	period,
		std::string	name
	)

Definition at line 14 of file PeriodicTask.cpp.

References PeriodicTaskManager::addTask().

    : _period(period), _name(name) {
  taskManager->addTask(this);
}

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virtual PeriodicTask::~PeriodicTask ( )

inlinevirtual

Definition at line 31 of file PeriodicTask.h.

References stop().

{ stop(); }

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Member Function Documentation

virtual void PeriodicTask::cleanup ( )

pure virtual

Implemented in PeriodicMemberFunction< T >, PrintTaskStatus, PeriodicFunction, RobotInterface, RobotRunner, and TestPeriodicTask.

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void PeriodicTask::clearMax

(

)

Definition at line 48 of file PeriodicTask.cpp.

References _maxPeriod, and _maxRuntime.

                            {
  _maxPeriod = 0;
  _maxRuntime = 0;
}

float PeriodicTask::getMaxPeriod ( )

inline

Definition at line 37 of file PeriodicTask.h.

References _maxPeriod.

{ return _maxPeriod; }

float PeriodicTask::getMaxRuntime ( )

inline

Definition at line 39 of file PeriodicTask.h.

References _maxRuntime, and loopFunction().

{ return _maxRuntime; }

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float PeriodicTask::getPeriod ( )

inline

Definition at line 33 of file PeriodicTask.h.

References _period.

{ return _period; }

float PeriodicTask::getRuntime ( )

inline

Definition at line 35 of file PeriodicTask.h.

References _lastRuntime.

{ return _lastRuntime; }

virtual void PeriodicTask::init ( )

pure virtual

Implemented in PeriodicMemberFunction< T >, PrintTaskStatus, PeriodicFunction, RobotInterface, RobotRunner, and TestPeriodicTask.

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bool PeriodicTask::isSlow

(

)

Definition at line 44 of file PeriodicTask.cpp.

References _maxPeriod, _maxRuntime, and _period.

                          {
  return _maxPeriod > _period * 1.3f || _maxRuntime > _period;
}

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void PeriodicTask::loopFunction ( )

private

Definition at line 65 of file PeriodicTask.cpp.

References _lastPeriodTime, _lastRuntime, _maxPeriod, _maxRuntime, _name, _period, _running, f(), Timer::getSeconds(), run(), and Timer::start().

                                {
  auto timerFd = timerfd_create(CLOCK_MONOTONIC, 0);
  int seconds = (int)_period;
  int nanoseconds = (int)(1e9 * std::fmod(_period, 1.f));

  Timer t;

  itimerspec timerSpec;
  timerSpec.it_interval.tv_sec = seconds;
  timerSpec.it_value.tv_sec = seconds;
  timerSpec.it_value.tv_nsec = nanoseconds;
  timerSpec.it_interval.tv_nsec = nanoseconds;

  timerfd_settime(timerFd, 0, &timerSpec, nullptr);
  unsigned long long missed = 0;

  printf("[PeriodicTask] Start %s (%d s, %d ns)\n", _name.c_str(), seconds,
         nanoseconds);
  while (_running) {
    _lastPeriodTime = (float)t.getSeconds();
    t.start();
    run();
    _lastRuntime = (float)t.getSeconds();
    int m = read(timerFd, &missed, sizeof(missed));
    (void)m;
    _maxPeriod = std::max(_maxPeriod, _lastPeriodTime);
    _maxRuntime = std::max(_maxRuntime, _lastRuntime);
  }
  printf("[PeriodicTask] %s has stopped!\n", _name.c_str());
}

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void PeriodicTask::printStatus

(

)

Definition at line 53 of file PeriodicTask.cpp.

References _lastPeriodTime, _lastRuntime, _maxPeriod, _maxRuntime, _name, _period, _running, isSlow(), printf_color(), and Red.

                               {
  if (!_running) return;
  if (isSlow()) {
    printf_color(PrintColor::Red, "|%-20s|%6.4f|%6.4f|%6.4f|%6.4f|%6.4f\n",
                 _name.c_str(), _lastRuntime, _maxRuntime, _period,
                 _lastPeriodTime, _maxPeriod);
  } else {
    printf("|%-20s|%6.4f|%6.4f|%6.4f|%6.4f|%6.4f\n", _name.c_str(),
           _lastRuntime, _maxRuntime, _period, _lastPeriodTime, _maxPeriod);
  }
}

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virtual void PeriodicTask::run ( )

pure virtual

Implemented in PeriodicMemberFunction< T >, PrintTaskStatus, PeriodicFunction, RobotInterface, RobotRunner, and TestPeriodicTask.

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void PeriodicTask::start

(

)

Definition at line 20 of file PeriodicTask.cpp.

References _name, _running, _thread, init(), and loopFunction().

                         {
  if (_running) {
    printf("[PeriodicTask] Tried to start %s but it was already running!\n",
           _name.c_str());
    return;
  }
  init();
  _running = true;
  _thread = std::thread(&PeriodicTask::loopFunction, this);
}

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void PeriodicTask::stop

(

)

Definition at line 31 of file PeriodicTask.cpp.

References _name, _running, _thread, and cleanup().

                        {
  if (!_running) {
    printf("[PeriodicTask] Tried to stop %s but it wasn't running!\n",
           _name.c_str());
    return;
  }
  _running = false;
  printf("[PeriodicTask] Waiting for %s to stop...\n", _name.c_str());
  _thread.join();
  printf("[PeriodicTask] Done!\n");
  cleanup();
}

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Member Data Documentation

float PeriodicTask::_lastPeriodTime = 0

private

Definition at line 47 of file PeriodicTask.h.

float PeriodicTask::_lastRuntime = 0

private

Definition at line 46 of file PeriodicTask.h.

float PeriodicTask::_maxPeriod = 0

private

Definition at line 48 of file PeriodicTask.h.

float PeriodicTask::_maxRuntime = 0

private

Definition at line 49 of file PeriodicTask.h.

std::string PeriodicTask::_name

private

Definition at line 50 of file PeriodicTask.h.

float PeriodicTask::_period

private

Definition at line 44 of file PeriodicTask.h.

volatile bool PeriodicTask::_running = false

private

Definition at line 45 of file PeriodicTask.h.

std::thread PeriodicTask::_thread

private

Definition at line 51 of file PeriodicTask.h.

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

• PeriodicTask.h
• PeriodicTask.cpp