realtime_tools Namespace Reference

Classes
class	AsyncFunctionHandler
	Class to handle asynchronous function calls. AsyncFunctionHandler is a class that allows the user to have a asynchronous call to the parsed method and be able to set some thread specific parameters. More...
class	RealtimeBoxBase
class	RealtimeBuffer
class	RealtimeClock
class	RealtimePublisher
class	RealtimeServerGoalHandle

Typedefs
template<typename T , typename mutex_type = std::mutex>
using	RealtimeBoxBestEffort = RealtimeBoxBase< T, mutex_type >
template<typename T >
using	RealtimeBoxStandard = RealtimeBoxBase< T, std::mutex >
template<typename T >
using	RealtimeBoxRecursive = RealtimeBoxBase< T, std::recursive_mutex >
template<typename T >
using	RealtimeBox = RealtimeBoxStandard< T >
template<class MessageT >
using	RealtimePublisherSharedPtr = std::shared_ptr< RealtimePublisher< MessageT > >

Functions
bool	has_realtime_kernel ()
bool	configure_sched_fifo (int priority)
bool	lock_memory (std::string &message)
std::pair< bool, std::string >	lock_memory ()
std::pair< bool, std::string >	set_thread_affinity (NATIVE_THREAD_HANDLE thread, const std::vector< int > &cores)
std::pair< bool, std::string >	set_thread_affinity (NATIVE_THREAD_HANDLE thread, int core)
std::pair< bool, std::string >	set_thread_affinity (std::thread &thread, int core)
std::pair< bool, std::string >	set_current_thread_affinity (int core)
std::pair< bool, std::string >	set_current_thread_affinity (const std::vector< int > &cores)
int64_t	get_number_of_available_processors ()

Variables
template<typename T >
constexpr auto	is_ptr_or_smart_ptr = rcpputils::is_pointer<T>::value

Detailed Description

Author

Sai Kishor Kothakota

Stuart Glaser

Function Documentation

configure_sched_fifo()

bool realtime_tools::configure_sched_fifo

(

int

priority

)

Configure SCHED_FIFO thread priority for the thread that calls this function

Parameters

[in]

priority

the priority of this thread from 0-99

Returns

true if configuring scheduler succeeded

get_number_of_available_processors()

int64_t realtime_tools::get_number_of_available_processors

(

)

Method to get the amount of available cpu cores https://man7.org/linux/man-pages/man3/sysconf.3.html https://stackoverflow.com/a/150971

Returns

The number of processors currently online (available)

has_realtime_kernel()

bool realtime_tools::has_realtime_kernel

(

)

Detect if realtime kernel is present.

Returns

true if realtime kernel is detected

lock_memory() [1/2]

std::pair< bool, std::string > realtime_tools::lock_memory

(

)

Locks the memory pages of the calling thread to prevent page faults. By calling this method, the programs locks all pages mapped into the address space of the calling process and future mappings. This means that the kernel will not swap out the pages to disk i.e., the pages are guaranteed to stay in RAM until later unlocked - which is important for realtime applications.

Parameters

[out]

message

a message describing the result of the operation

Returns

a pair of a boolean indicating whether the operation succeeded or not and a message describing the result of the operation

lock_memory() [2/2]

bool realtime_tools::lock_memory

(

std::string &

message

)

Locks the memory pages of the calling thread to prevent page faults. By calling this method, the programs locks all pages mapped into the address space of the calling process and future mappings. This means that the kernel will not swap out the pages to disk i.e., the pages are guaranteed to stay in RAM until later unlocked - which is important for realtime applications.

Parameters

[out]

message

a message describing the result of the operation

Returns

true if memory locking succeeded, false otherwise.

set_current_thread_affinity() [1/2]

std::pair< bool, std::string > realtime_tools::set_current_thread_affinity

(

const std::vector< int > &

cores

)

Configure the current thread affinity - Tell the scheduler to prefer a certain set of cores for the current thread.

Note

The threads created by the calling thread will inherit the affinity.

Parameters

[in]

core

the cpu numbers of the core. If an empty vector is passed, the affinity is reset to the default.

Returns

a pair of a boolean indicating whether the operation succeeded or not and a message describing the result of the operation

set_current_thread_affinity() [2/2]

std::pair< bool, std::string > realtime_tools::set_current_thread_affinity

(

int

core

)

Configure the current thread affinity - Tell the scheduler to prefer a certain core for the current thread.

Note

The threads created by the calling thread will inherit the affinity.

Parameters

[in]

core

the cpu number of the core. If a negative number is passed, the affinity is reset to the default.

Returns

a pair of a boolean indicating whether the operation succeeded or not and a message describing the result of the operation

set_thread_affinity() [1/3]

std::pair< bool, std::string > realtime_tools::set_thread_affinity	(	NATIVE_THREAD_HANDLE	thread,
		const std::vector< int > &	cores
	)

Configure the caller thread affinity - Tell the scheduler to prefer a certain set of cores for the given thread handle.

Note

The threads created by the calling thread will inherit the affinity.

Parameters

[in]	thread	the thread handle of the thread
[in]	core	the cpu numbers of the core. If an empty vector is passed, the affinity is reset to the default.

Returns

a pair of a boolean indicating whether the operation succeeded or not and a message describing the result of the operation

set_thread_affinity() [2/3]

std::pair< bool, std::string > realtime_tools::set_thread_affinity	(	NATIVE_THREAD_HANDLE	thread,
		int	core
	)

Configure the caller thread affinity - Tell the scheduler to prefer a certain core for the given thread handle.

Note

The threads created by the calling thread will inherit the affinity.

Parameters

[in]	thread	the thread handle of the thread
[in]	core	the cpu number of the core. If a negative number is passed, the affinity is reset to the default.

Returns

a pair of a boolean indicating whether the operation succeeded or not and a message describing the result of the operation

set_thread_affinity() [3/3]

std::pair< bool, std::string > realtime_tools::set_thread_affinity	(	std::thread &	thread,
		int	core
	)

Configure the caller thread affinity - Tell the scheduler to prefer a certain core for the given thread.

Note

The threads created by the calling thread will inherit the affinity.

Parameters

[in]	thread	the reference of the thread
[in]	core	the cpu number of the core. If a negative number is passed, the affinity is reset to the default.

Returns

a pair of a boolean indicating whether the operation succeeded or not and a message describing the result of the operation