The default, thread-less activity for any newly created TaskContext. More...

#include <rtt/extras/SequentialActivity.hpp>

Inheritance diagram for RTT::extras::SequentialActivity:

Public Types
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Public Member Functions
	SequentialActivity (base::RunnableInterface *run=0)
	Create an activity which is the Sequential. More...

	~SequentialActivity ()
	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::ThreadInterface *	thread ()
	Returns a pointer to the thread which will run this activity. More...

bool	initialize ()

void	step ()

void	loop ()

bool	breakLoop ()

void	finalize ()

bool	start ()
	Start the activity. 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...

bool	timeout ()
	Requests this Activity to wakeup and call step() + work(Timeout). More...

virtual bool	run (RunnableInterface *r)
	Run exclusively this RunnableInterface. More...

virtual RunnableInterface *	getRunner () 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
RunnableInterface *	runner

Detailed Description

The default, thread-less activity for any newly created TaskContext.

The presence of this activity object indicates that the TaskContext does not have its own active thread, but executes all asynchronous operations (such as commands and events) in the thread of the caller, so in fact synchronously. The SequentialActivity uses a os::Mutex lock to guard against concurrent executions and makes your TaskContext equally thread-safe as the other activity implementations.

This activity emulates the same behaviour as a NonPeriodicActivity, but without using a thread.

Reactions to execute():

Always returns false.

Reactions to trigger():

This causes step() to be executed.

Definition at line 71 of file SequentialActivity.hpp.

Member Typedef Documentation

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

inherited

Examples:: /home/jenkins/workspace/rtt-doc/rtt/TaskContext.hpp.

Definition at line 77 of file ActivityInterface.hpp.

Constructor & Destructor Documentation

RTT::SequentialActivity::SequentialActivity ( base::RunnableInterface * run = 0 )

Create an activity which is the Sequential.

The period will be 0.0.

Parameters

run	Run this instance.

Definition at line 47 of file SequentialActivity.cpp.

RTT::SequentialActivity::~SequentialActivity ( )

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

Definition at line 52 of file SequentialActivity.cpp.

References stop().

Member Function Documentation

bool RTT::SequentialActivity::breakLoop ( )

Definition at line 92 of file SequentialActivity.cpp.

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::SequentialActivity::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

true	When this->isActive() and the implementation allows external executes.
false	When !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 190 of file SequentialActivity.cpp.

void RTT::SequentialActivity::finalize ( )

Definition at line 98 of file SequentialActivity.cpp.

Referenced by stop().

unsigned RTT::SequentialActivity::getCpuAffinity ( ) const

virtual

Get the cpu affinity of this activity.

Returns: The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 68 of file SequentialActivity.cpp.

Seconds RTT::SequentialActivity::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 57 of file SequentialActivity.cpp.

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::SequentialActivity::initialize ( )

Definition at line 83 of file SequentialActivity.cpp.

Referenced by start().

bool RTT::SequentialActivity::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 140 of file SequentialActivity.cpp.

bool RTT::SequentialActivity::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 135 of file SequentialActivity.cpp.

bool RTT::SequentialActivity::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 130 of file SequentialActivity.cpp.

void RTT::extras::SequentialActivity::loop ( )

bool ActivityInterface::run ( RunnableInterface * r )

virtualinherited

Run exclusively this RunnableInterface.

Precondition: this->isRunning() == false

Parameters

r	The 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::SequentialActivity::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 73 of file SequentialActivity.cpp.

bool RTT::SequentialActivity::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 62 of file SequentialActivity.cpp.

bool RTT::SequentialActivity::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.

Definition at line 102 of file SequentialActivity.cpp.

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

void RTT::SequentialActivity::step ( )

Definition at line 88 of file SequentialActivity.cpp.

Referenced by trigger().

bool RTT::SequentialActivity::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 117 of file SequentialActivity.cpp.

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

Referenced by ~SequentialActivity().

os::ThreadInterface * RTT::SequentialActivity::thread ( )

virtual

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

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 78 of file SequentialActivity.cpp.

References RTT::os::MainThread::Instance().

bool RTT::SequentialActivity::timeout ( )

virtual

Requests this Activity to wakeup and call step() + work(Timeout).

Will be ignored for periodic activities, since they use an internal timing mechanism, but can be used for non-periodic activities which want to emulate a timeout happening towards the base::RunnableInterface.

Implements RTT::base::ActivityInterface.

Definition at line 185 of file SequentialActivity.cpp.

References trigger().

bool RTT::SequentialActivity::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.

Requests this Activity to wakeup and call step() + work(Trigger). If the thread is periodic, it will continue sleeping for the remainder of the time after the work() has finished.

Return values

true	When this->isActive() and the implementation allows external triggers.
false	When !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Definition at line 145 of file SequentialActivity.cpp.

References RTT::base::RunnableInterface::hasWork(), RTT::os::MutexTryLock::isSuccessful(), RTT::base::ActivityInterface::runner, step(), RTT::base::RunnableInterface::step(), RTT::base::RunnableInterface::TimeOut, and RTT::base::RunnableInterface::work().

Referenced by timeout().