RTT::EventDrivenActivity Class Reference

An Event-driven ActivityInterface implementation. More...

#include <rtt/EventDrivenActivity.hpp>

Inheritance diagram for RTT::EventDrivenActivity:

Public Types
typedef boost::shared_ptr < ActivityInterface >	shared_ptr
Public Member Functions
	EventDrivenActivity (int priority, RunnableInterface *_r=0)
	Create an EventDrivenActivity which will run in a separate thread, using its own event processor.
	EventDrivenActivity (int scheduler, int priority, RunnableInterface *_r=0)
	Create an EventDrivenActivity which will run in a separate thread, using its own event processor.
	EventDrivenActivity (int priority, const std::string &name, RunnableInterface *_r=0)
	Create an EventDrivenActivity which will run in a separate thread, using its own event processor.
	~EventDrivenActivity ()
	Cleanup and notify the RunnableInterface that we are gone.
bool	start ()
	Start the activity.
bool	stop ()
	Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop().
void	loop ()
bool	breakLoop ()
std::vector< Event< void()> * > const &	getWakeupEvents () const
	Returns the set of events that caused the activity to wake up.
bool	addEvent (Event< void(void)> *_event)
	Set the Event which will trigger the execution of this task, once started.
bool	run (int)
	Run another (or self in case of null) task.
virtual bool	run (RunnableInterface *r)
	Run exclusively this RunnableInterface.
virtual Seconds	getPeriod () const
	Get the periodicity of this activity in Seconds.
virtual ThreadInterface *	thread ()
	Returns a pointer to the thread which will run this activity.
virtual bool	initialize ()
virtual void	finalize ()
virtual bool	isPeriodic () const
	Inspect if this activity is periodic.
virtual bool	execute ()
	Execute this activity such that it executes a step or loop of the RunnableInterface.
virtual bool	trigger ()
	Trigger that work has to be done.
virtual bool	isRunning () const
	Query if the activity is initialized and executing.
virtual bool	isActive () const
	Query if the activity is started.
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.
Protected Attributes
RunnableInterface *	runner
Friends
class	RunnableInterface

Detailed Description

An Event-driven ActivityInterface implementation.

This class represents a Activity which can be attached to an Event<void(void)> and execute its functionality each time the event is fired. The EventDrivenActivity is run asynchronously in a given thread.

Definition at line 54 of file EventDrivenActivity.hpp.

Constructor & Destructor Documentation

RTT::EventDrivenActivity::EventDrivenActivity	(	int	priority,
		RunnableInterface *	_r = `0`
	)

Create an EventDrivenActivity which will run in a separate thread, using its own event processor.

The default scheduler for EventDrivenActivity objects is ORO_SCHED_RT.

Parameters:

	priority	The priority of the underlying thread.
	_r	The optional runner, if none, this->loop() is called.

RTT::EventDrivenActivity::EventDrivenActivity	(	int	scheduler,
		int	priority,
		RunnableInterface *	_r = `0`
	)

Create an EventDrivenActivity which will run in a separate thread, using its own event processor.

Parameters:

	scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
	priority	The priority of the underlying thread.
	_r	The optional runner, if none, this->loop() is called.

RTT::EventDrivenActivity::EventDrivenActivity	(	int	priority,
		const std::string &	name,
		RunnableInterface *	_r = `0`
	)

Create an EventDrivenActivity which will run in a separate thread, using its own event processor.

Parameters:

	priority	The priority of the underlying thread.
	name	The name of the underlying thread.
	_r	The optional runner, if none, this->loop() is called.

Member Function Documentation

void RTT::ActivityInterface::disableRun ( RunnableInterface * caller ) [inline, protected, inherited]

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.

virtual bool RTT::NonPeriodicActivity::execute ( ) [virtual, inherited]

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::ActivityInterface.

virtual Seconds RTT::NonPeriodicActivity::getPeriod ( ) const [virtual, inherited]

Get the periodicity of this activity in Seconds.

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

Implements RTT::ActivityInterface.

std::vector<Event<void()>*> const& RTT::EventDrivenActivity::getWakeupEvents ( ) const

Returns the set of events that caused the activity to wake up.

This is only valid in the associated RunnableInterface's step() method (and, by extension, in the TaskContext hook functions)

virtual bool RTT::NonPeriodicActivity::isActive ( ) const [virtual, inherited]

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::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::isPeriodic ( ) const [virtual, inherited]

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::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::isRunning ( ) const [virtual, inherited]

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::ActivityInterface.

virtual bool RTT::ActivityInterface::run ( RunnableInterface * r ) [virtual, inherited]

Run exclusively this RunnableInterface.

Precondition:: this->isRunning() == false

Parameters:

r

The RunnableInterface to run exclusively.

Returns:: true if succeeded, false otherwise

Referenced by RTT::NonPeriodicActivity::run().

bool RTT::NonPeriodicActivity::run ( int ) [inline, inherited]

Run another (or self in case of null) task.

This overload is needed to redirect the call of run( 0 ) to the correct function.

Definition at line 105 of file NonPeriodicActivity.hpp.

References RTT::ActivityInterface::run().

bool RTT::EventDrivenActivity::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

Reimplemented from RTT::NonPeriodicActivity.

bool RTT::EventDrivenActivity::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

Reimplemented from RTT::NonPeriodicActivity.

virtual ThreadInterface* RTT::NonPeriodicActivity::thread ( ) [virtual, inherited]

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

Will not be null.

Implements RTT::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::trigger ( ) [virtual, inherited]

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:

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

Implements RTT::ActivityInterface.

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

rtt/EventDrivenActivity.hpp

RTT::EventDrivenActivity Class Reference

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation