:::tip Experimental This documents unreleased main — not a released, committed API. See the API stability policy and use Stable instead. :::

Robotiq::Platform Class

The OS services Gripper's threaded runtime needs, as an injectable interface: one exchange thread, one lockable object, a yielding sleep, and a wait/notify handle.

Every Gripper runs on one: hosted applications pass makeDefaultPlatform(); an RTOS target implements this over the native primitives — ports/threadx/threadx_platform.hpp is the working reference. A single-threaded target (bare superloop) should skip Gripper entirely and drive GripperModbusClient itself — that layer needs no Platform. Read that class's warning first: it is the exception, not an alternative.

Concurrency contract for implementations: the sleeps may be called from several threads at once (the exchange thread paces with sleepUntil() while a blocked procedure like activate() polls with sleepFor()); makeMutex(), makeConditionVariable() and spawn() are called during gripper construction only.

RTOS-specific integration caveats (a yielding Serial::read, the backing of steady_clock, task priorities) are documented in the reference port, ports/threadx/threadx_platform.hpp — read them before implementing this interface for an RTOS.

Included Headers

#include <platform.hpp>

Members

Public Destructor
	~Platform ()=default
Public Member Functions
std::unique_ptr< Mutex >	makeMutex ()=0
std::unique_ptr< ConditionVariable >	makeConditionVariable ()=0
std::unique_ptr< Thread >	spawn (std::function< void()> fn)=0
	Start a thread running fn. More...
void	sleepUntil (std::chrono::steady_clock::time_point timePoint)=0
	Sleep the calling thread until a monotonic time point, yielding the CPU. More...
void	sleepFor (std::chrono::milliseconds duration)=0
	Sleep the calling thread for a duration, yielding the CPU. More...

Public Destructor

~Platform()

virtual Robotiq::Platform::~Platform ()

virtual default

Public Member Functions

makeConditionVariable()

virtual std::unique_ptr< ConditionVariable > Robotiq::Platform::makeConditionVariable ()

Returns

A newly constructed wait/notify handle; must not be null.

makeMutex()

virtual std::unique_ptr< Mutex > Robotiq::Platform::makeMutex ()

Returns

A newly constructed lockable object.

sleepFor()

virtual void Robotiq::Platform::sleepFor ( std::chrono::milliseconds duration )

Sleep the calling thread for a duration, yielding the CPU.

Parameters

duration

How long to sleep.

sleepUntil()

virtual void Robotiq::Platform::sleepUntil ( std::chrono::steady_clock::time_point timePoint )

Sleep the calling thread until a monotonic time point, yielding the CPU.

Parameters

timePoint

The point in time to sleep until.

spawn()

virtual std::unique_ptr< Thread > Robotiq::Platform::spawn ( std::function< void()> fn )

Start a thread running fn.

fn returns when its owner stops it; the returned handle is then join()ed before destruction.

Parameters

fn	The thread's entry function.

Returns

A handle to the running thread.

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

• platform.hpp

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