Orocos Real-Time Toolkit  2.8.3
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
RTT::extras::PeriodicActivity Class Reference

A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints. More...

#include <rtt/extras/PeriodicActivity.hpp>

Inheritance diagram for RTT::extras::PeriodicActivity:
RTT::base::ActivityInterface RTT::extras::SimulationActivity

Public Types

typedef boost::shared_ptr< ActivityInterfaceshared_ptr
 

Public Member Functions

 PeriodicActivity (int priority, Seconds period, base::RunnableInterface *r=0)
 Create a Periodic Activity with a given priority and period. More...
 
 PeriodicActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0)
 Create a Periodic Activity with a given scheduler type, priority and period. More...
 
 PeriodicActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0)
 Create a Periodic Activity with a given scheduler type, priority and period. More...
 
 PeriodicActivity (TimerThreadPtr thread, base::RunnableInterface *r=0)
 Create a Periodic Activity executing in a given thread. More...
 
 PeriodicActivity (Seconds period, TimerThreadPtr thread, base::RunnableInterface *r=0)
 Create a Periodic Activity with a given period and thread. More...
 
 PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, base::RunnableInterface *r=0)
 Create a Periodic Activity with a given period and thread. More...
 
virtual ~PeriodicActivity ()
 Stops and terminates a PeriodicActivity. More...
 
virtual bool start ()
 Start the activity. More...
 
virtual bool execute ()
 Execute this activity such that it executes a step or loop of the RunnableInterface. More...
 
virtual bool trigger ()
 Trigger that work has to be done. More...
 
virtual bool stop ()
 Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop(). More...
 
virtual bool isRunning () const
 Query if the activity is initialized and executing. More...
 
virtual bool isActive () const
 Query if the activity is started. More...
 
virtual bool isPeriodic () const
 Inspect if this activity is periodic. More...
 
virtual Seconds getPeriod () const
 Get the periodicity of this activity in Seconds. More...
 
virtual bool setPeriod (Seconds s)
 Set the periodicity of this activity in Seconds. More...
 
virtual unsigned getCpuAffinity () const
 Get the cpu affinity of this activity. More...
 
virtual bool setCpuAffinity (unsigned cpu)
 Set the cpu affinity of this activity. More...
 
virtual os::ThreadInterfacethread ()
 Returns a pointer to the thread which will run this activity. More...
 
virtual bool initialize ()
 
virtual void step ()
 
virtual void finalize ()
 
virtual bool run (RunnableInterface *r)
 Run exclusively this RunnableInterface. More...
 
virtual RunnableInterfacegetRunner () const
 Returns a pointer to the RunnableInterface instance. More...
 

Protected Member Functions

void init ()
 
void disableRun (RunnableInterface *caller)
 This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used. More...
 

Protected Attributes

bool running
 State info. More...
 
bool active
 State info. More...
 
TimerThreadPtr thread_
 The thread which runs this activity. More...
 
RunnableInterfacerunner
 

Detailed Description

A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints.

A PeriodicActivity is executed in a TimerThread. Multiple PeriodicActivities having the same priority and periodicity will be executed in the same TimerThread one after the other.

It will execute a base::RunnableInterface, or the equivalent methods in it's own interface when none is given. When initialize() returns false, it will abort start(). If the PeriodicActivity is stop()'ed, finalize() is called in the calling thread of stop().

Definition at line 70 of file PeriodicActivity.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<ActivityInterface> RTT::base::ActivityInterface::shared_ptr
inherited

Constructor & Destructor Documentation

RTT::PeriodicActivity::PeriodicActivity ( int  priority,
Seconds  period,
base::RunnableInterface r = 0 
)

Create a Periodic Activity with a given priority and period.

The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.

Parameters
priorityThe priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
periodThe periodicity of the PeriodicActivity
rThe optional base::RunnableInterface to run exclusively within this Activity

Definition at line 52 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity ( int  scheduler,
int  priority,
Seconds  period,
base::RunnableInterface r = 0 
)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
periodThe periodicity of the PeriodicActivity
rThe optional base::RunnableInterface to run exclusively within this Activity

Definition at line 59 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity ( int  scheduler,
int  priority,
Seconds  period,
unsigned  cpu_affinity,
base::RunnableInterface r = 0 
)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
periodThe periodicity of the PeriodicActivity
cpu_affinityThe prefered cpu to run on (a mask)
rThe optional base::RunnableInterface to run exclusively within this Activity

Definition at line 66 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity ( TimerThreadPtr  thread,
base::RunnableInterface r = 0 
)

Create a Periodic Activity executing in a given thread.

Parameters
threadThe thread this Activity will be run in. Both period and priority of this activity will be the same as thread.
rThe optional base::RunnableInterface to run exclusively within this Activity

Definition at line 73 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity ( Seconds  period,
TimerThreadPtr  thread,
base::RunnableInterface r = 0 
)

Create a Periodic Activity with a given period and thread.

Parameters
periodThe periodicity of the PeriodicActivity
threadThe thread this Activity will be run in. The given period must be a multiple of the thread's period.
rThe optional base::RunnableInterface to run exclusively within this Activity

Definition at line 80 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity ( secs  sec,
nsecs  nsec,
TimerThreadPtr  thread,
base::RunnableInterface r = 0 
)

Create a Periodic Activity with a given period and thread.

Parameters
secThe periodicity of the PeriodicActivity, seconds partition
nsecThe periodicity of the PeriodicActivity, nanoseconds partition
threadThe thread this Activity will be run in. The given period (sec, nsec) must be a multiple of the thread's period.
rThe optional base::RunnableInterface to run exclusively within this Activity

Definition at line 87 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::~PeriodicActivity ( )
virtual

Stops and terminates a PeriodicActivity.

Definition at line 95 of file PeriodicActivity.cpp.

References stop().

Member Function Documentation

void RTT::base::ActivityInterface::disableRun ( RunnableInterface caller)
inlineprotectedinherited

This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used.

run(0) can not be used in this case because it would recurse.

Definition at line 73 of file ActivityInterface.hpp.

Referenced by RTT::base::RunnableInterface::setActivity(), and RTT::base::RunnableInterface::~RunnableInterface().

bool RTT::PeriodicActivity::execute ( )
virtual

Execute this activity such that it executes a step or loop of the RunnableInterface.

When you invoke execute() you intend to call the step() or loop() methods. Some activity implementations allow a user controlled execute, others ignore it, in which case execute() returns false.

Semantics: If execute() returns true, the activity has been executed exactly once during execute().

Return values
trueWhen this->isActive() and the implementation allows external executes.
falseWhen !this->isActive() or the implementation does not allow external updating.
See also
trigger() for use in callbacks which want execute() to be executed.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 185 of file PeriodicActivity.cpp.

void RTT::PeriodicActivity::finalize ( )
virtual
unsigned RTT::PeriodicActivity::getCpuAffinity ( ) const
virtual

Get the cpu affinity of this activity.

Returns
The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 168 of file PeriodicActivity.cpp.

References thread_.

Seconds RTT::PeriodicActivity::getPeriod ( ) const
virtual

Get the periodicity of this activity in Seconds.

Returns
The execution period of this activity (zero if !this->isPeriodic() ).

Implements RTT::base::ActivityInterface.

Definition at line 159 of file PeriodicActivity.cpp.

References thread_.

RunnableInterface * ActivityInterface::getRunner ( ) const
virtualinherited

Returns a pointer to the RunnableInterface instance.

Definition at line 70 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::runner.

Referenced by RTT::ExecutionEngine::setActivity().

void RTT::PeriodicActivity::init ( )
protected

Definition at line 100 of file PeriodicActivity.cpp.

Referenced by PeriodicActivity().

bool RTT::PeriodicActivity::initialize ( )
virtual
bool RTT::PeriodicActivity::isActive ( ) const
virtual

Query if the activity is started.

This is less strict than isRunning(), it is true during initialize(), step() or loop() and finalize(). Use this method to check if an activity was start()ed.

Returns
true if it is active, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 154 of file PeriodicActivity.cpp.

References active.

Referenced by RTT::extras::SimulationActivity::start(), start(), and stop().

bool RTT::PeriodicActivity::isPeriodic ( ) const
virtual

Inspect if this activity is periodic.

If so, it will call RunnableInterface::step(). If the activity is not periodic, it will call RunnableInterface::loop().

Returns
true if periodic.

Implements RTT::base::ActivityInterface.

Definition at line 209 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::isRunning ( ) const
virtual

Query if the activity is initialized and executing.

This is more strict than isActive(), it is only true after initialize() is executed and before finalize() is executed. More-over, an Activity may decide to be temporarily not running (not executing code), waiting for a signal to proceed. If this->isActive() and !this->isRunning() then the Activity is in a waiting state.

Returns
true if it is running, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 149 of file PeriodicActivity.cpp.

References running.

Referenced by RTT::extras::SimulationActivity::execute().

bool ActivityInterface::run ( RunnableInterface r)
virtualinherited

Run exclusively this RunnableInterface.

Precondition
this->isRunning() == false
Parameters
rThe RunnableInterface to run exclusively.
Returns
true if succeeded, false otherwise

Definition at line 57 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::isActive(), RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::setActivity().

Referenced by RTT::TaskContext::setActivity().

bool RTT::PeriodicActivity::setCpuAffinity ( unsigned  cpu)
virtual

Set the cpu affinity of this activity.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Definition at line 173 of file PeriodicActivity.cpp.

References thread_.

bool RTT::PeriodicActivity::setPeriod ( Seconds  s)
virtual

Set the periodicity of this activity in Seconds.

Note that not all activity implementation support periods. A period of s == 0 indicates non periodic. A non supported setting returns false.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Definition at line 164 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::start ( )
virtual

Start the activity.

This will call RunnableInterface::initialize() and upon success, effectively start the activity, by running the RunnableInterface::step() or RunnableInterface::loop() in a thread.

See also
isPeriodic()
Returns
true if the activity is started, false otherwise

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 103 of file PeriodicActivity.cpp.

References active, finalize(), initialize(), isActive(), running, and thread_.

void RTT::PeriodicActivity::step ( )
virtual
bool RTT::PeriodicActivity::stop ( )
virtual

Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop().

If no errors occured, RunnableInterface::finalize() is called.

See also
isPeriodic()
Returns
true if the activity is stopped, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 134 of file PeriodicActivity.cpp.

References active, finalize(), isActive(), running, and thread_.

Referenced by ~PeriodicActivity(), and RTT::extras::SimulationActivity::~SimulationActivity().

os::ThreadInterface * RTT::PeriodicActivity::thread ( )
virtual

Returns a pointer to the thread which will run this activity.

Will not be null.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 207 of file PeriodicActivity.cpp.

References thread_.

bool RTT::PeriodicActivity::trigger ( )
virtual

Trigger that work has to be done.

When you invoke trigger(), you intend to notify the mechanism that calls execute(), that execute() should be called. This allows a separation between actually executing code (execute()) and notifying that code must be executed (trigger()). A trigger may be ignored by the implementation, in which case trigger returns false.

Semantics: If trigger() returns true, the activity will be executed at least once from the moment trigger() is called.

Return values
trueWhen this->isActive() and the implementation allows external triggers.
falseWhen !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Definition at line 190 of file PeriodicActivity.cpp.

Member Data Documentation

bool RTT::extras::PeriodicActivity::active
protected

State info.

Definition at line 221 of file PeriodicActivity.hpp.

Referenced by isActive(), RTT::extras::SimulationActivity::start(), start(), and stop().

RunnableInterface* RTT::base::ActivityInterface::runner
protectedinherited
bool RTT::extras::PeriodicActivity::running
protected

State info.

Definition at line 216 of file PeriodicActivity.hpp.

Referenced by isRunning(), RTT::extras::SimulationActivity::start(), start(), and stop().

TimerThreadPtr RTT::extras::PeriodicActivity::thread_
protected

The thread which runs this activity.

Definition at line 226 of file PeriodicActivity.hpp.

Referenced by getCpuAffinity(), getPeriod(), setCpuAffinity(), RTT::extras::SimulationActivity::start(), start(), stop(), and thread().


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