A process-wide execution engine that processes every asynchronous operation that is not being processed by a TaskContext. More...

#include <rtt/internal/GlobalEngine.hpp>

Inheritance diagram for RTT::internal::GlobalEngine:

List of all members.

Public Member Functions
base::TaskCore *	getParent ()
	The base::TaskCore which created this ExecutionEngine.
virtual void	addChild (base::TaskCore *tc)
	Add a base::TaskCore to execute.
virtual void	removeChild (base::TaskCore *tc)
	Remove a base::TaskCore from execution.
base::TaskCore *	getTaskCore () const
	Returns the owner of this execution engine.
virtual bool	process (base::DisposableInterface *c)
	Queue and execute (process) a given message.
virtual bool	runFunction (base::ExecutableInterface *f)
	Run a given function in step() or loop().
virtual bool	removeFunction (base::ExecutableInterface *f)
	Remove a running function added with runFunction.
virtual bool	removeSelfFunction (base::ExecutableInterface *f)
	Self-removal for a running function added with runFunction.
void	waitForMessages (const boost::function< bool(void)> &pred)
	Call this if you wish to block on a message arriving in the Execution Engine.
void	waitForFunctions (const boost::function< bool(void)> &pred)
	Call this if you wish to block on a function completing in the Execution Engine.
bool	stopTask (base::TaskCore *task)
	Stops executing the updateHook of task.
virtual void	loop ()
	The method that will be executed once when this class is run in a non periodic thread.
virtual os::ThreadInterface *	getThread () const
	Get the thread this object is run in.
ActivityInterface *	getActivity () const
	Query for the task this interface is run in.
virtual void	setActivity (ActivityInterface *task)
	Set the task this interface is run in.
Static Public Member Functions
static RTT_API ExecutionEngine *	Instance ()
static RTT_API void	Release ()
Protected Member Functions
void	waitForMessagesInternal (boost::function< bool(void)> const &pred)
	Call this if you wish to block on a message arriving in the Execution Engine.
void	waitAndProcessMessages (boost::function< bool(void)> const &pred)
	Call this if you wish to block on a message arriving in the Execution Engine and execute it.
void	waitAndProcessFunctions (boost::function< bool(void)> const &pred)
	Call this if you wish to block on a function completing in the Execution Engine and execute it.
void	processMessages ()
void	processFunctions ()
void	processChildren ()
virtual bool	initialize ()
	The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.
virtual void	step ()
	Executes (in that order) Messages, Functions and updateHook() functions of this TaskContext and its children.
virtual bool	breakLoop ()
	This method is called by the framework to break out of the loop() method.
virtual void	finalize ()
	The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.
virtual bool	hasWork ()
	This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again).
Protected Attributes
base::TaskCore *	taskc
	The parent or 'owner' of this ExecutionEngine, may be null.
internal::MWSRQueue < base::DisposableInterface * > *	mqueue
	Our Message queue.
std::vector< base::TaskCore * >	children
internal::MWSRQueue < base::ExecutableInterface * > *	f_queue
	Stores all functions we're executing.
os::Mutex	msg_lock
os::Condition	msg_cond

Detailed Description

A process-wide execution engine that processes every asynchronous operation that is not being processed by a TaskContext.

In practice, this only occurs when a client does a send() on an OperationCaller which calls an Operation with the ClientThread policy.

Definition at line 60 of file GlobalEngine.hpp.

Member Function Documentation

bool RTT::ExecutionEngine::breakLoop ( ) [protected, virtual, inherited]

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns:: true if the loop could be notified to return.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 386 of file ExecutionEngine.cpp.

References RTT::base::TaskCore::breakUpdateHook(), and RTT::ExecutionEngine::taskc.

ActivityInterface * RTT::base::RunnableInterface::getActivity ( ) const [inline, inherited]

Query for the task this interface is run in.

Zero denotes that no task is present to run it, and hence no detailed information is available.

Returns:: The Activity which runs this RunnableInterface.

Definition at line 167 of file RunnableInterface.hpp.

Referenced by RTT::base::TaskCore::activate(), RTT::base::TaskCore::fatal(), RTT::TaskContext::getActivity(), RTT::base::TaskCore::getCpuAffinity(), RTT::base::TaskCore::getPeriod(), RTT::base::TaskCore::isActive(), RTT::ExecutionEngine::process(), RTT::ExecutionEngine::removeFunction(), RTT::ExecutionEngine::runFunction(), RTT::base::TaskCore::setCpuAffinity(), RTT::base::TaskCore::setPeriod(), RTT::ExecutionEngine::stopTask(), RTT::base::TaskCore::trigger(), RTT::base::TaskCore::update(), RTT::ExecutionEngine::waitForFunctions(), and RTT::ExecutionEngine::waitForMessages().

os::ThreadInterface * RTT::RunnableInterface::getThread ( ) const [virtual, inherited]

Get the thread this object is run in.

Returns:: a pointer to the thread or 0 if not run by a thread.

Definition at line 78 of file CoreRunnableInterface.cpp.

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

bool RTT::ExecutionEngine::hasWork ( ) [protected, virtual, inherited]

This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again).

By default, false is returned. You should only return true in case there is a temporary reason to (re-)run step.

Returns:: true if this object should be run.

See also:: extras::SequentialActivity implementation to see how this can be of use.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 211 of file ExecutionEngine.cpp.

References RTT::internal::AtomicMWSRQueue< T >::isEmpty(), and RTT::ExecutionEngine::mqueue.

void RTT::RunnableInterface::loop ( ) [virtual, inherited]

The method that will be executed once when this class is run in a non periodic thread.

The default implementation calls step() once.

Reimplemented in RTT::os::Timer.

Definition at line 60 of file CoreRunnableInterface.cpp.

References RTT::base::RunnableInterface::step().

Referenced by RTT::extras::SlaveActivity::execute(), and RTT::Activity::loop().

bool RTT::ExecutionEngine::process ( base::DisposableInterface * c ) [virtual, inherited]

Queue and execute (process) a given message.

The message is executed in step() or loop() directly after all other queued ActionInterface objects. The constructor parameter queue_size limits how many messages can be queued in between step()s or loop().

Returns:: true if the message got accepted, false otherwise.; false when the MessageProcessor is not running or does not accept messages.

See also:: acceptMessages

Definition at line 238 of file ExecutionEngine.cpp.

References RTT::os::Condition::broadcast(), RTT::internal::AtomicMWSRQueue< T >::enqueue(), RTT::base::TaskCore::FatalError, RTT::base::RunnableInterface::getActivity(), RTT::ExecutionEngine::mqueue, RTT::ExecutionEngine::taskc, and RTT::base::ActivityInterface::trigger().

Referenced by RTT::internal::LocalOperationCallerImpl< FunctionT >::executeAndDispose(), and RTT::ExecutionEngine::removeFunction().

bool RTT::ExecutionEngine::removeFunction ( base::ExecutableInterface * f ) [virtual, inherited]

Remove a running function added with runFunction.

This method is only required if the function is to be destroyed and is still present in the Engine.

Definition at line 161 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::getActivity(), RTT::base::ActivityInterface::isActive(), RTT::base::ExecutableInterface::isLoaded(), RTT::ExecutionEngine::process(), RTT::ExecutionEngine::removeSelfFunction(), RTT::base::ExecutableInterface::unloaded(), and RTT::ExecutionEngine::waitForMessages().

Referenced by RTT::scripting::ScriptingService::unloadProgram(), and RTT::scripting::StateMachine::~StateMachine().

bool RTT::ExecutionEngine::removeSelfFunction ( base::ExecutableInterface * f ) [virtual, inherited]

Self-removal for a running function added with runFunction.

You must call this variant in case you want yourself to be removed. Equivalent to returning false in ExecutableInterface::execute().

Definition at line 187 of file ExecutionEngine.cpp.

References RTT::internal::AtomicMWSRQueue< T >::dequeue(), RTT::internal::AtomicMWSRQueue< T >::enqueue(), RTT::ExecutionEngine::f_queue, and RTT::internal::AtomicMWSRQueue< T >::size().

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

bool RTT::ExecutionEngine::runFunction ( base::ExecutableInterface * f ) [virtual, inherited]

Run a given function in step() or loop().

The function may only be destroyed after the ExecutionEngine is stopped or removeFunction() was invoked. The number of functions the Processor can run in parallel can be increased with setMaxFunctions().

Returns:: false if the Engine is not running or the 'pending' queue is full.

See also:: removeFunction(), setMaxFunctions()

Definition at line 132 of file ExecutionEngine.cpp.

References RTT::internal::AtomicMWSRQueue< T >::enqueue(), RTT::ExecutionEngine::f_queue, RTT::base::TaskCore::FatalError, RTT::base::RunnableInterface::getActivity(), RTT::base::ExecutableInterface::loaded(), RTT::ExecutionEngine::taskc, and RTT::base::ActivityInterface::trigger().

Referenced by RTT::scripting::ScriptingService::loadFunctions(), and RTT::scripting::ScriptingService::loadProgram().

void RTT::RunnableInterface::setActivity ( ActivityInterface * task ) [virtual, inherited]

Set the task this interface is run in.

A Zero means no task is running it.

Parameters:

task	The ActivityInterface running this interface.

Definition at line 69 of file CoreRunnableInterface.cpp.

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

Referenced by RTT::base::ActivityInterface::run().

bool RTT::ExecutionEngine::stopTask ( base::TaskCore * task ) [inherited]

Stops executing the updateHook of task.

This is an explicit synchronisation point, which guarantees that updateHook is no longer executed when this function returns true.

Parameters:

task	The Task calling this function and whose updateHook should no longer be executed.

Returns:: true if it's updateHook() is no longer being executed, false otherwise.

Definition at line 396 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::getActivity(), and RTT::base::ActivityInterface::start().

void RTT::ExecutionEngine::waitAndProcessFunctions ( boost::function< bool(void)> const & pred ) [protected, inherited]

Call this if you wish to block on a function completing in the Execution Engine and execute it.

Parameters:

pred	As long as !pred() waits and processes functions. If pred() == true when entering this function, then no functions will be processed and this function returns immediately.

This function is for internal use only and is required for asynchronous function invocations.

Note:: waitAndProcessFunctions will call in turn this->processFunctions() and may as a consequence recurse if we get an asynchronous call-back.

Definition at line 300 of file ExecutionEngine.cpp.

References RTT::os::Condition::wait().

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

void RTT::ExecutionEngine::waitAndProcessMessages ( boost::function< bool(void)> const & pred ) [protected, inherited]

Call this if you wish to block on a message arriving in the Execution Engine and execute it.

Parameters:

pred	As long as !pred() waits and processes messages. If pred() == true when entering this function, then no messages will be processed and this function returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Note:: waitAndProcessMessages will call in turn this->processMessages() and may as a consequence recurse if we get an asynchronous call-back.

Definition at line 282 of file ExecutionEngine.cpp.

References RTT::os::Condition::wait().

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

void RTT::ExecutionEngine::waitForFunctions ( const boost::function< bool(void)> & pred ) [inherited]

Call this if you wish to block on a function completing in the Execution Engine.

Each time a function completes, waitForFunctions will return when pred() returns true.

Parameters:

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, returns immediately.

This function is for internal use only and is required for asynchronous function invocations.

Definition at line 261 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::getActivity(), RTT::ExecutionEngine::waitAndProcessFunctions(), and RTT::ExecutionEngine::waitForMessagesInternal().

void RTT::ExecutionEngine::waitForMessages ( const boost::function< bool(void)> & pred ) [inherited]

Call this if you wish to block on a message arriving in the Execution Engine.

Each time one or more messages are processed, waitForMessages will return when pred() returns true.

Parameters:

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Definition at line 252 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::getActivity(), RTT::ExecutionEngine::waitAndProcessMessages(), and RTT::ExecutionEngine::waitForMessagesInternal().

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

void RTT::ExecutionEngine::waitForMessagesInternal ( boost::function< bool(void)> const & pred ) [protected, inherited]

Call this if you wish to block on a message arriving in the Execution Engine.

Each time one or more messages are processed, waitForMessages will return when pred() returns true.

Parameters:

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, the returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Note:: waitForMessages requires another thread to execute processMessages() and may therefor not be called from within the component's Thread. Use waitAndProcessMessages() instead.

Definition at line 270 of file ExecutionEngine.cpp.

References RTT::os::Condition::wait().

Referenced by RTT::ExecutionEngine::waitForFunctions(), and RTT::ExecutionEngine::waitForMessages().

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

rtt/internal/GlobalEngine.hpp
rtt/internal/GlobalEngine.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation