Merge branch 'release/6.0.0' of rmc-github.robotic.dlr.de:robotkernel/module_posix_timer into release/6.0.0

Author: robert-burger

README.md

@@ -10,7 +10,7 @@ Two different modes are supported by **module_posix_timer**.
 
 * ***nanosleep :*** In this mode the **module_posix_timer** main thread just does a nanosleep until the period time has been elapsed. If the nanosleep call was interrupted by some signal it will sleep until the calculated period end time has been reached. This mode is easy and efficient as well. The **module_posix_timer*** thread should run at a very high priority to ensure, that it will be waken up when it's necessary. 
 * ***posix_timer :*** This mode creates a timer with timer_create. It configures the timer and connects it to the given signal number from the configuration string. 
-* ***busywait :*** In busywait the timer threads does active wait on the cpu and consumes all cpu time. This can cause higher power usage and higher temperature (But on a PREEMPT-RT system that should not matter). 
+* ***busywait :*** In busywait the timer threads does active wait on the cpu and consumes all cpu time. This can cause higher power consumption and higher temperature (But on a PREEMPT-RT system that should not matter). 
 
 ## Example config file
 
@@ -22,49 +22,54 @@ This example config file can be used as a template for own configurations.
 # vim: ft=yaml
 
 #########################################################
-# timer settings
+# logging settings
 
-# Defines the tick interval in seconds for the trigger device.
-interval: 0.002
+# Standard robotkernel module local loglevel.
+#loglevel: verbose
 
-# Sets the operating mode of the module.
-# Values can be "nanosleep", "busywait" or "timer".
-#mode: nanosleep
+#########################################################
+# timer settings
+# module_posix_timer can create multiple timers. For each specified list
+# entry in timers a new timer with <name> is created.
 
-# Signal number to be used in "timer"-mode for timer_create.
-#signo: 35
+timers:
+    # Unique timer name
+  - name: <timer_name>
 
-# Setting realtime priorities for the timer thread.
-prio: 60
-affinity: 0x01
+    # Defines the tick interval in seconds for the trigger device.
+    interval: 0.002
 
-# Enable skipping missed cycles (Usually a bad option, e.g. something wrong, bad realtime , ..)
-# Values can be:
-# "none" - no skipping is done, every tick will be generated.
-# "normal" - skip all ticks which ly in the past minus the next.
-# "strict" - skip all ticks which ly in the past.
-#skip_missed: none 
+    # Sets the operating mode of the module.
+    # Values can be "nanosleep", "busywait" or "timer".
+    #mode: nanosleep
 
-#########################################################
-# logging settings
+    # Signal number to be used in "timer"-mode for timer_create.
+    #signo: 35
 
-# Standard robotkernel module local loglevel.
-#loglevel: verbose
+    # Setting realtime priorities for the timer thread ("nanosleep" or "busywait" mode).
+    prio: 60
+    affinity: 0x01
 
+    # Enable skipping missed cycles (Usually a bad option, e.g. something wrong, bad realtime , ..)
+    # Values can be:
+    # "none" - no skipping is done, every tick will be generated.
+    # "normal" - skip all ticks which ly in the past minus the next.
+    # "strict" - skip all ticks which ly in the past.
+    #skip_missed: none 
 ```
 
 ## Trigger device
 
-This module registers a trigger device to the robotkernel with the following naming schemeː
+This module registers a trigger device for each timer to robotkernel with the following naming schemeː
 
 ```
-<name>.posix_timer.trigger
+<module_name>.<timer_name>.trigger
 ```
 
 ## Process data device
 
 The module also provides a cyclic process. It contains the actual timer interval.
 
 ```
-<name>.inputs.pd
+<module_name>.<timer_name>.inputs.pd
 ```