Orocos Real-Time Toolkit  2.9.0
SimulationActivity.cpp
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1 /***************************************************************************
2  tag: Peter Soetens Tue Dec 21 22:43:07 CET 2004 SimulationActivity.cxx
3 
4  SimulationActivity.cxx - description
5  -------------------
6  begin : Tue December 21 2004
7  copyright : (C) 2004 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
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37 
38 
39 #include "SimulationActivity.hpp"
40 #include "SimulationThread.hpp"
41 
42 namespace RTT {
43  using namespace base;
44  using namespace extras;
45 
47  :PeriodicActivity(period,SimulationThread::Instance(), r)
48  {
49  }
50 
52  :PeriodicActivity(sec, nsec,SimulationThread::Instance(), r)
53  {
54  }
55 
57  {
58  stop();
59  }
60 
62  return SimulationThread::Instance()->simthread();
63  }
64 
66  {
67  if ( this->isRunning() ) {
68  this->step();
70  return true;
71  }
72  return false;
73  }
74 
75 
76  // COPY/PASTE from PeriodicActivity.cxx
78  {
79  if ( isActive() ) { //|| !thread_->isRunning() ) {
80  //Logger::log() << Logger::Error << "PeriodicActivity : no timer, already active or thread not running." << Logger::endl;
81  return false;
82  }
83 
84  active = true;
85  bool inError = !this->initialize();
86  if ( inError ) {
87  //Logger::log() << Logger::Error << "PeriodicActivity : initialize() returned false " << Logger::endl;
88  active = false;
89  return false;
90  }
91 
92  bool res;
93  res = thread_->addActivity( this );
94  if ( res == false ) {
95  //Logger::log() << Logger::Error << "PeriodicActivity : addActivity() returned false " << Logger::endl;
96  this->finalize();
97  active = false;
98  return false;
99  }
100 
101  running = true;
102  return true;
103  }
104 
105 }
virtual os::ThreadInterface * thread()
Returns a pointer to the thread which will run this activity.
double Seconds
Seconds are stored as a double precision float.
Definition: Time.hpp:53
virtual bool isRunning() const
Query if the activity is initialized and executing.
virtual bool stop()
Stop the activity This will stop the activity by removing it from the &#39;run-queue&#39; of a thread or call...
virtual bool execute()
When a SimulationActivity is started, it may be executed by the user as well.
virtual bool isActive() const
Query if the activity is started.
A class for running a certain piece of code in a thread.
long secs
seconds as a signed long.
Definition: Time.hpp:57
SimulationActivity(Seconds period, base::RunnableInterface *r=0)
Construct a SimulationActivity with a periodicity period Seconds.
TimerThreadPtr thread_
The thread which runs this activity.
static SimulationThreadPtr Instance(double period=0.001)
Create the SimulationThread with a given period.
A thread which is being run.
A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constrai...
This thread is the simulated real-time periodic thread in the Orocos system.
virtual ~SimulationActivity()
Destroys this instance.
virtual void work(base::RunnableInterface::WorkReason reason)
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
long long nsecs
nanoseconds as a signed long long.
Definition: Time.hpp:69
virtual bool start()
A simulated activity can be started also if the SimulationThread is not running yet.