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

An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()', which is called by another Activity ('master'). More...

#include <rtt/extras/SlaveActivity.hpp>

Inheritance diagram for RTT::extras::SlaveActivity:
RTT::base::ActivityInterface

Public Types

typedef boost::shared_ptr< ActivityInterfaceshared_ptr
 

Public Member Functions

 SlaveActivity (base::ActivityInterface *master, base::RunnableInterface *run=0)
 Create an activity which is the slave of master. More...
 
 SlaveActivity (double period, base::RunnableInterface *run=0)
 Create an activity which is periodic. More...
 
 SlaveActivity (base::RunnableInterface *run=0)
 Create an activity for which trigger() will not be periodically called. More...
 
 ~SlaveActivity ()
 Cleanup and notify the base::RunnableInterface that we are gone. More...
 
Seconds getPeriod () const
 Get the periodicity of this activity in Seconds. More...
 
bool setPeriod (Seconds s)
 Set the periodicity of this activity in Seconds. More...
 
unsigned getCpuAffinity () const
 Get the cpu affinity of this activity. More...
 
bool setCpuAffinity (unsigned cpu)
 Set the cpu affinity of this activity. More...
 
os::ThreadInterfacethread ()
 Returns a pointer to the thread which will run this activity. More...
 
base::ActivityInterfacegetMaster () const
 
bool initialize ()
 
void step ()
 
void loop ()
 
bool breakLoop ()
 
void finalize ()
 
bool start ()
 Start this slave. More...
 
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...
 
bool isRunning () const
 Query if the activity is initialized and executing. More...
 
bool isPeriodic () const
 Inspect if this activity is periodic. More...
 
bool isActive () const
 Query if the activity is started. More...
 
bool execute ()
 Execute this activity such that it executes a step or loop of the RunnableInterface. More...
 
bool trigger ()
 Trigger that work has to be done. More...
 
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 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

RunnableInterfacerunner
 

Detailed Description

An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()', which is called by another Activity ('master').

The SlaveActivity can only be started if the master is active or if no master is present. If a master is used, this activity takes periodicity over from the master. If no master is present, use one of the alternative constructors to make a periodic slave or a non periodic slave.

Any activity object can be a master of a SlaveActivity, including itself. A master needs to keep track of its slave itself. There is no standard mechanism in RTT in which masters execute slaves. You need to code this yourself in your master activity by calling execute() on each Slave.

The only thing a slave does/can do is

Reactions to execute():

In the non periodic case, base::RunnableInterface::loop() is called, in the periodic case, base::RunnableInterface::step() is called. In case the base::RunnableInterface did not implement loop(), step() is invoked by default. If no base::RunnableInterface is given, said functions are called upon SlaveActivity itself.

Reactions to trigger():

trigger() is ignored and returns false when no master is present.

When there is a master: In the non periodic case, trigger() is called upon the master (causing it to execute), in the periodic case, it is ignored (you can not trigger periodic activities).

Definition at line 90 of file SlaveActivity.hpp.

Member Typedef Documentation

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

Constructor & Destructor Documentation

RTT::SlaveActivity::SlaveActivity ( base::ActivityInterface master,
base::RunnableInterface run = 0 
)

Create an activity which is the slave of master.

Parameters
masterThe activity which will execute this activity.
runRun this instance.

Definition at line 46 of file SlaveActivity.cpp.

RTT::SlaveActivity::SlaveActivity ( double  period,
base::RunnableInterface run = 0 
)

Create an activity which is periodic.

If period == 0.0, this constructor is equivalent to the one below for non periodic activities.

Parameters
periodThe periodicity at which you will trigger() this activity.
runRun this instance.

Definition at line 51 of file SlaveActivity.cpp.

RTT::SlaveActivity::SlaveActivity ( base::RunnableInterface run = 0)

Create an activity for which trigger() will not be periodically called.

The period of this activity will be 0.0.

Parameters
runRun this instance.

Definition at line 56 of file SlaveActivity.cpp.

RTT::SlaveActivity::~SlaveActivity ( )

Cleanup and notify the base::RunnableInterface that we are gone.

Definition at line 61 of file SlaveActivity.cpp.

References stop().

Member Function Documentation

bool RTT::SlaveActivity::breakLoop ( )

Definition at line 116 of file SlaveActivity.cpp.

Referenced by stop().

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::SlaveActivity::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.

Definition at line 191 of file SlaveActivity.cpp.

References RTT::base::RunnableInterface::loop(), loop(), RTT::base::ActivityInterface::runner, RTT::base::RunnableInterface::step(), and step().

void RTT::SlaveActivity::finalize ( )

Definition at line 122 of file SlaveActivity.cpp.

Referenced by stop().

unsigned RTT::SlaveActivity::getCpuAffinity ( ) const
virtual

Get the cpu affinity of this activity.

Returns
The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 80 of file SlaveActivity.cpp.

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

base::ActivityInterface * RTT::SlaveActivity::getMaster ( ) const

Definition at line 97 of file SlaveActivity.cpp.

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

Seconds RTT::SlaveActivity::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 66 of file SlaveActivity.cpp.

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

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().

bool RTT::SlaveActivity::initialize ( )

Definition at line 102 of file SlaveActivity.cpp.

Referenced by start().

bool RTT::SlaveActivity::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 179 of file SlaveActivity.cpp.

bool RTT::SlaveActivity::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 175 of file SlaveActivity.cpp.

Referenced by start(), and stop().

bool RTT::SlaveActivity::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 170 of file SlaveActivity.cpp.

void RTT::SlaveActivity::loop ( )

Definition at line 111 of file SlaveActivity.cpp.

References step().

Referenced by 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::SlaveActivity::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 87 of file SlaveActivity.cpp.

bool RTT::SlaveActivity::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 73 of file SlaveActivity.cpp.

bool RTT::SlaveActivity::start ( )
virtual

Start this slave.

Only allowed if the master activity is already running.

Return values
falseif !master->isRunning() || this->isRunning() || initialize() returns false
trueothwerise.

Implements RTT::base::ActivityInterface.

Definition at line 126 of file SlaveActivity.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, RTT::base::RunnableInterface::initialize(), initialize(), RTT::base::ActivityInterface::isActive(), isPeriodic(), RTT::Logger::log(), and RTT::base::ActivityInterface::runner.

void RTT::SlaveActivity::step ( )

Definition at line 107 of file SlaveActivity.cpp.

Referenced by execute(), and loop().

bool RTT::SlaveActivity::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 150 of file SlaveActivity.cpp.

References RTT::base::RunnableInterface::breakLoop(), breakLoop(), RTT::base::RunnableInterface::finalize(), finalize(), isPeriodic(), and RTT::base::ActivityInterface::runner.

Referenced by ~SlaveActivity().

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

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

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 92 of file SlaveActivity.cpp.

References RTT::os::MainThread::Instance(), and RTT::base::ActivityInterface::thread().

bool RTT::SlaveActivity::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 184 of file SlaveActivity.cpp.

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

Member Data Documentation

RunnableInterface* RTT::base::ActivityInterface::runner
protectedinherited

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