RTT::PeriodicActivity Class Reference
[Activity (thread) classes.]

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

#include <rtt/PeriodicActivity.hpp>

Inheritance diagram for RTT::PeriodicActivity:

Public Types
typedef boost::shared_ptr < ActivityInterface >	shared_ptr
Public Member Functions
	PeriodicActivity (int priority, Seconds period, RunnableInterface *r=0)
	Create a Periodic Activity with a given priority and period.
	PeriodicActivity (int scheduler, int priority, Seconds period, RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period.
	PeriodicActivity (TimerThreadPtr thread, RunnableInterface *r=0)
	Create a Periodic Activity executing in a given thread.
	PeriodicActivity (Seconds period, TimerThreadPtr thread, RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread.
	PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread.
virtual	~PeriodicActivity ()
	Stops and terminates a PeriodicActivity.
virtual bool	start ()
	Start the activity.
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	stop ()
	Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop().
virtual bool	isRunning () const
	Query if the activity is initialized and executing.
virtual bool	isActive () const
	Query if the activity is started.
virtual bool	isPeriodic () const
	Inspect if this activity is periodic.
virtual Seconds	getPeriod () const
	Get the periodicity of this activity in Seconds.
virtual OS::ThreadInterface *	thread ()
	Returns a pointer to the thread which will run this activity.
virtual bool	initialize ()
virtual void	step ()
virtual void	finalize ()
virtual bool	run (RunnableInterface *r)
	Run exclusively this RunnableInterface.
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.
Protected Attributes
bool	running
	State info.
bool	active
	State info.
TimerThreadPtr	thread_
	The thread which runs this activity.
RunnableInterface *	runner
Friends
class	RunnableInterface

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 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 69 of file PeriodicActivity.hpp.

Constructor & Destructor Documentation

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

Create a Periodic Activity with a given priority and period.

The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.

Parameters:

	priority	The 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.
	period	The periodicity of the PeriodicActivity
	r	The optional RunnableInterface to run exclusively within this Activity

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

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

Parameters:

	scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
	priority	The 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.
	period	The periodicity of the PeriodicActivity
	r	The optional RunnableInterface to run exclusively within this Activity

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

Create a Periodic Activity executing in a given thread.

Parameters:

	thread	The thread this Activity will be run in. Both period and priority of this activity will be the same as thread.
	r	The optional RunnableInterface to run exclusively within this Activity

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

Create a Periodic Activity with a given period and thread.

Parameters:

	period	The periodicity of the PeriodicActivity
	thread	The thread this Activity will be run in. The given period must be a multiple of the thread's period.
	r	The optional RunnableInterface to run exclusively within this Activity

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

Create a Periodic Activity with a given period and thread.

Parameters:

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

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::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:

	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.

Reimplemented in RTT::SimulationActivity.

virtual void RTT::PeriodicActivity::finalize ( ) [virtual]

See also:: RunnableInterface::finalize()

Reimplemented in RTT::Configurator.

virtual 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::ActivityInterface.

virtual bool RTT::PeriodicActivity::initialize ( ) [virtual]

See also:: RunnableInterface::initialize()

Reimplemented in RTT::Configurator.

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::ActivityInterface.

virtual 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::ActivityInterface.

virtual 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::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().

virtual 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::ActivityInterface.

Reimplemented in RTT::SimulationActivity.

virtual void RTT::PeriodicActivity::step ( ) [virtual]

See also:: RunnableInterface::step()

Reimplemented in RTT::Configurator.

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::ActivityInterface.

virtual OS::ThreadInterface* RTT::PeriodicActivity::thread ( ) [virtual]

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

Will not be null.

Implements RTT::ActivityInterface.

virtual 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:

	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/PeriodicActivity.hpp

RTT::PeriodicActivity Class Reference [Activity (thread) classes.]

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

RTT::PeriodicActivity Class Reference
[Activity (thread) classes.]