Orocos Real-Time Toolkit  2.8.3
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RTT::base::RunnableInterface Class Referenceabstract

A class for running a certain piece of code in a thread. More...

#include <rtt/base/RunnableInterface.hpp>

Inheritance diagram for RTT::base::RunnableInterface:
RTT::ExecutionEngine RTT::os::Timer RTT::internal::GlobalEngine

Public Member Functions

 RunnableInterface ()
 Create a runnable object. More...
 
virtual ~RunnableInterface ()
 Checks if this is still in a task and if so, issues a critical warning. More...
 
virtual bool initialize ()=0
 The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started. More...
 
virtual void step ()=0
 The method that will be periodically executed when this class is run in a periodic thread. More...
 
virtual void loop ()
 The method that will be executed once when this class is run in a non periodic thread. More...
 
virtual bool breakLoop ()
 This method is called by the framework to break out of the loop() method. More...
 
virtual void finalize ()=0
 The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped. More...
 
virtual os::ThreadInterfacegetThread () const
 Get the thread this object is run in. More...
 
virtual bool hasWork ()
 This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again). More...
 
ActivityInterfacegetActivity () const
 Query for the task this interface is run in. More...
 
virtual void setActivity (ActivityInterface *task)
 Set the task this interface is run in. More...
 

Detailed Description

A class for running a certain piece of code in a thread.

It defines three methods which can execute functionality.

In a start-run-stop cycle, before step() is called the first time, initialize() will be called in the thread that started this RunnableInterface. When step() is ran the last time in this cycle, finalize() will be called, after it finishes, in the threaad that stopped this RunnableInterface.

A non periodic thread will call loop(), which indicates that the RunnableInterface is allowed to block ( step() is not allowed to block ). By default, loop() calls step(), but a subclass may override the loop() method to put its own blocking functionality in. To break out of the loop() method, reimplement breakLoop() such that loop() returns when breakLoop() is called.

The getActivity() method is guaranteed to return a valid task pointer during initialize(), step() or loop() and finalize(). This allows the RunnableInterface to query the task's period(icity) and ThreadInterface. Consequently, initialize() knows whether step() or loop() will be called ( depending on ActivityInterface::isPeriodic() ).

See also
ActivityInterface

Definition at line 69 of file RunnableInterface.hpp.

Constructor & Destructor Documentation

RTT::RunnableInterface::RunnableInterface ( )

Create a runnable object.

The optional constructor parameter allows the object to attach directly to a thread. Otherwise, os::ThreadInterface::run(RunnableInterface*) must be used to attach this object to a thread. A thread can only run one RunnableInterface object, use CoreLib tasks otherwise.

Parameters
tThe thread this object must attach to.

Definition at line 58 of file CoreRunnableInterface.cpp.

RTT::RunnableInterface::~RunnableInterface ( )
virtual

Checks if this is still in a task and if so, issues a critical warning.

Definition at line 47 of file CoreRunnableInterface.cpp.

References RTT::Critical, RTT::base::ActivityInterface::disableRun(), and RTT::base::ActivityInterface::isRunning().

Member Function Documentation

bool RTT::RunnableInterface::breakLoop ( )
virtual

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns
true if the loop could be notified to return.

Reimplemented in RTT::ExecutionEngine, and RTT::os::Timer.

Definition at line 62 of file CoreRunnableInterface.cpp.

Referenced by RTT::Activity::breakLoop(), and RTT::extras::SlaveActivity::stop().

virtual void RTT::base::RunnableInterface::finalize ( )
pure virtual

The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.

Implemented in RTT::ExecutionEngine, and RTT::os::Timer.

Referenced by RTT::Activity::finalize(), RTT::extras::PeriodicActivity::finalize(), RTT::extras::SequentialActivity::stop(), and RTT::extras::SlaveActivity::stop().

ActivityInterface * RTT::base::RunnableInterface::getActivity ( ) const
inline
os::ThreadInterface * RTT::RunnableInterface::getThread ( ) const
virtual

Get the thread this object is run in.

Returns
a pointer to the thread or 0 if not run by a thread.

Definition at line 78 of file CoreRunnableInterface.cpp.

References RTT::base::ActivityInterface::thread().

bool RTT::RunnableInterface::hasWork ( )
virtual

This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again).

By default, false is returned. You should only return true in case there is a temporary reason to (re-)run step.

Returns
true if this object should be run.
See also
extras::SequentialActivity implementation to see how this can be of use.

Reimplemented in RTT::ExecutionEngine.

Definition at line 65 of file CoreRunnableInterface.cpp.

Referenced by RTT::extras::SequentialActivity::trigger().

virtual bool RTT::base::RunnableInterface::initialize ( )
pure virtual

The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.

Implemented in RTT::ExecutionEngine, and RTT::os::Timer.

Referenced by RTT::Activity::initialize(), RTT::extras::PeriodicActivity::initialize(), RTT::extras::SequentialActivity::start(), and RTT::extras::SlaveActivity::start().

void RTT::RunnableInterface::loop ( )
virtual

The method that will be executed once when this class is run in a non periodic thread.

The default implementation calls step() once.

Reimplemented in RTT::os::Timer.

Definition at line 60 of file CoreRunnableInterface.cpp.

References step().

Referenced by RTT::extras::SlaveActivity::execute(), and RTT::Activity::loop().

void RTT::RunnableInterface::setActivity ( ActivityInterface task)
virtual

Set the task this interface is run in.

A Zero means no task is running it.

Parameters
taskThe ActivityInterface running this interface.

Reimplemented in RTT::ExecutionEngine.

Definition at line 69 of file CoreRunnableInterface.cpp.

References RTT::base::ActivityInterface::disableRun().

Referenced by RTT::base::ActivityInterface::ActivityInterface(), RTT::base::ActivityInterface::run(), RTT::ExecutionEngine::setActivity(), and RTT::base::ActivityInterface::~ActivityInterface().

virtual void RTT::base::RunnableInterface::step ( )
pure virtual

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