Orocos Real-Time Toolkit  2.6.0
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Friends
RTT::Activity Class Reference

An Activity is an object that represents a thread. More...

#include <rtt/Activity.hpp>

Inheritance diagram for RTT::Activity:
RTT::base::ActivityInterface RTT::os::Thread RTT::os::ThreadInterface RTT::corba::CorbaDispatcher RTT::corba::OrbRunner RTT::extras::FileDescriptorActivity RTT::extras::IRQActivity RTT::mqueue::Dispatcher

List of all members.

Public Types

typedef boost::shared_ptr
< ActivityInterface
shared_ptr

Public Member Functions

 Activity (base::RunnableInterface *r=0, const std::string &name="Activity")
 Create a not real-time Activity.
 Activity (int priority, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create a real-time Activity with a given priority.
 Activity (int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create a real-time Activity with a given priority and period.
 Activity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create an Activity with a given scheduler type, priority and period.
 Activity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create an Activity with a given scheduler type, priority, period and cpu affinity.
virtual ~Activity ()
 Stops and terminates a Activity.
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 bool setPeriod (Seconds period)
 Set the periodicity of this activity in Seconds.
virtual unsigned getCpuAffinity () const
 Get the cpu affinity of this activity.
virtual bool setCpuAffinity (unsigned cpu)
 Set the cpu affinity of this activity.
virtual os::ThreadInterfacethread ()
 Returns a pointer to the thread which will run this activity.
virtual bool initialize ()
virtual void step ()
virtual void loop ()
virtual bool breakLoop ()
virtual void finalize ()
virtual bool run (RunnableInterface *r)
 Run exclusively this RunnableInterface.
bool setPeriod (secs s, nsecs ns)
 Set the periodicity of this thread (seconds, nanoseconds)
bool setPeriod (TIME_SPEC p)
 Set the periodicity of this thread.
void getPeriod (secs &s, nsecs &ns) const
 Get the periodicity of this thread (seconds, nanoseconds)
virtual nsecs getPeriodNS () const
 Get the periodicity in nanoseconds.
virtual const char * getName () const
 Read the name of this task.
virtual RTOS_TASK * getTask ()
 Get the RTOS_TASK pointer.
virtual const RTOS_TASK * getTask () const
 const version of the above.
virtual bool setScheduler (int sched_type)
 Change the scheduler policy in which this thread runs.
virtual int getScheduler () const
 Get the scheduler policy in which this thread runs.
virtual bool setPriority (int priority)
 Set the priority of this Thread.
virtual int getPriority () const
 The priority of this Thread.
virtual unsigned int getPid () const
 Returns the Process or Thread ID of this thread, as assigned by the Operating System.
virtual void yield ()
 Yields (put to the back of the scheduler queue) the calling thread.
virtual void setMaxOverrun (int m)
virtual int getMaxOverrun () const
virtual void setWaitPeriodPolicy (int p)
 Set the wait policy of a periodic thread.
unsigned int threadNumber () const
 The unique thread number (within the same process).
bool isSelf () const

Static Public Member Functions

static void setStackSize (unsigned int ssize)
 Sets the stack size of the threads to be created.

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.
void terminate ()
 Exit and destroy the thread.
void emergencyStop ()

Protected Attributes

RunnableInterfacerunner
int threadnb
 Threads are given an unique number, which follows thread creation order.

Friends

class RunnableInterface

Detailed Description

An Activity is an object that represents a thread.

This object implements the base::ActivityInterface and maps that to an OS thread, using the RTT::os::Thread class. One Activity object maps to one OS thread. It can execute periodically the step() function or the loop() function in case of non-periodic execution.

When provided one, it will execute a base::RunnableInterface object, or the equivalent methods in it's own interface when none is given.

Definition at line 63 of file Activity.hpp.


Constructor & Destructor Documentation

RTT::Activity::Activity ( base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create a not real-time Activity.

This creates a not real-time, non-periodic thread, with priority equal to RTT::os::LowestPriority.

Parameters:
_rThe optional runner, if null, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 55 of file Activity.cpp.

References RTT::os::LowestPriority.

RTT::Activity::Activity ( int  priority,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create a real-time Activity with a given priority.

The thread is run in the ORO_SCHED_RT scheduler.

Parameters:
priorityThe priority of this activity.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 60 of file Activity.cpp.

RTT::Activity::Activity ( int  priority,
Seconds  period,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create a real-time Activity with a given priority and period.

The thread is run in the ORO_SCHED_RT scheduler.

Parameters:
priorityThe priority of this activity.
periodThe periodicity of the Activity. A zero is interpreted as non periodic.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 65 of file Activity.cpp.

RTT::Activity::Activity ( int  scheduler,
int  priority,
Seconds  period,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

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

Parameters:
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
periodThe periodicity of the Activity
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 70 of file Activity.cpp.

RTT::Activity::Activity ( int  scheduler,
int  priority,
Seconds  period,
unsigned  cpu_affinity,
base::RunnableInterface r = 0,
const std::string &  name = "Activity" 
)

Create an Activity with a given scheduler type, priority, period and cpu affinity.

Parameters:
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
periodThe periodicity of the Activity
cpu_affinityThe prefered cpu to run on (a mask)
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 75 of file Activity.cpp.


Member Function Documentation

bool RTT::Activity::breakLoop ( ) [virtual]
void RTT::base::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.

Referenced by RTT::base::RunnableInterface::setActivity(), and RTT::base::RunnableInterface::~RunnableInterface().

bool RTT::Activity::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:
trueWhen this->isActive() and the implementation allows external executes.
falseWhen !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 131 of file Activity.cpp.

void RTT::Activity::finalize ( ) [virtual]
See also:
base::RunnableInterface::finalize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner.

Definition at line 113 of file Activity.cpp.

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

unsigned RTT::Activity::getCpuAffinity ( ) const [virtual]

Get the cpu affinity of this activity.

Returns:
The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 158 of file Activity.cpp.

Seconds RTT::Activity::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 143 of file Activity.cpp.

nsecs RTT::os::Thread::getPeriodNS ( ) const [virtual, inherited]

Get the periodicity in nanoseconds.

Return zero if non periodic.

Implements RTT::os::ThreadInterface.

Definition at line 583 of file Thread.cpp.

unsigned int RTT::os::Thread::getPid ( ) const [virtual, inherited]

Returns the Process or Thread ID of this thread, as assigned by the Operating System.

This function tries to return the Thread ID, if the OS supports it, otherwise it returns the process ID. If that is not available either, zero is returned. On Linux systems for example, the Thread ID of the main thread is equal to the Process ID. The Thread ID of every newly created thread is different from the Process ID (and unique).

Implements RTT::os::ThreadInterface.

Definition at line 598 of file Thread.cpp.

References RTT::os::rtos_task_get_pid().

int RTT::os::Thread::getPriority ( ) const [virtual, inherited]

The priority of this Thread.

Returns:
The priority given upon construction of this thread or set with setPriority. The returned number has to be interpreted in the current OS scheduler.
See also:
setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 573 of file Thread.cpp.

References RTT::os::rtos_task_get_priority().

Referenced by RTT::extras::SimulationThread::SimulationThread().

int RTT::os::Thread::getScheduler ( ) const [virtual, inherited]

Get the scheduler policy in which this thread runs.

Returns:
An OS-specific value which represents the used scheduler.
See also:
setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 475 of file Thread.cpp.

References RTT::os::rtos_task_get_scheduler().

Referenced by RTT::os::Thread::setScheduler().

virtual RTOS_TASK* RTT::os::Thread::getTask ( ) [inline, virtual, inherited]

Get the RTOS_TASK pointer.

Note:
Using this function leads to non-portable code. It is here for users which wish to tweak OS specific thread settings.

Implements RTT::os::ThreadInterface.

Definition at line 174 of file Thread.hpp.

Referenced by RTT::os::thread_function().

bool RTT::Activity::initialize ( ) [virtual]
bool RTT::Activity::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 139 of file Activity.cpp.

Referenced by trigger().

bool RTT::Activity::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 154 of file Activity.cpp.

bool RTT::Activity::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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 135 of file Activity.cpp.

void RTT::Activity::loop ( ) [virtual]
bool ActivityInterface::run ( RunnableInterface r) [virtual, inherited]

Run exclusively this RunnableInterface.

Precondition:
this->isRunning() == false
Parameters:
rThe RunnableInterface to run exclusively.
Returns:
true if succeeded, false otherwise

Definition at line 57 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::isActive(), and RTT::base::RunnableInterface::setActivity().

Referenced by RTT::TaskContext::setActivity().

bool RTT::Activity::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 163 of file Activity.cpp.

bool RTT::Activity::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 148 of file Activity.cpp.

bool RTT::os::Thread::setPriority ( int  priority) [virtual, inherited]

Set the priority of this Thread.

Parameters:
priorityThe priority given upon construction of this thread. It has to be interpreted in the current OS scheduler.
See also:
setScheduler

Implements RTT::os::ThreadInterface.

Definition at line 563 of file Thread.cpp.

References RTT::os::rtos_task_set_priority().

bool RTT::os::Thread::setScheduler ( int  sched_type) [virtual, inherited]

Change the scheduler policy in which this thread runs.

Parameters:
sched_typeAn OS-specific value which selects a scheduler. Orocos requires that these two values are available:
  • ORO_SCHED_RT: Hint the OS that this thread should be scheduled as a priority or real-time process.
  • ORO_SCHED_OTHER: Hint the OS that this thread should not be scheduled as a priority or real-time process.

Your OS can in addition provide other sched_type's which map more naturally to the schedulers present. If your OS does not make a distinction between real-time and other, both values may map to the same scheduler type.

Returns:
true if the change could be made.

Implements RTT::os::ThreadInterface.

Definition at line 456 of file Thread.cpp.

References RTT::os::CheckScheduler(), RTT::os::Thread::getScheduler(), RTT::os::rtos_task_get_name(), and RTT::os::rtos_task_set_scheduler().

Referenced by RTT::extras::SimulationThread::SimulationThread().

void RTT::os::Thread::setStackSize ( unsigned int  ssize) [static, inherited]

Sets the stack size of the threads to be created.

This value is suggestive and may be altered or ignored by your operating system. Use zero to use the system's default.

Parameters:
ssizethe size of the stack in bytes

Definition at line 73 of file Thread.cpp.

void RTT::os::Thread::setWaitPeriodPolicy ( int  p) [virtual, inherited]

Set the wait policy of a periodic thread.

Parameters:
Thewait policy between ORO_WAIT_ABS (absolute wait) and ORO_WAIT_REL (relative wait)

Implements RTT::os::ThreadInterface.

Definition at line 634 of file Thread.cpp.

References RTT::os::rtos_task_set_wait_period_policy().

bool RTT::Activity::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.

Reimplemented in RTT::extras::FileDescriptorActivity, and RTT::extras::IRQActivity.

Definition at line 119 of file Activity.cpp.

Referenced by RTT::extras::FileDescriptorActivity::start(), and trigger().

void RTT::Activity::step ( ) [virtual]
See also:
base::RunnableInterface::step()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 95 of file Activity.cpp.

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

Referenced by loop().

bool RTT::Activity::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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 123 of file Activity.cpp.

Referenced by ~Activity().

void RTT::os::Thread::terminate ( ) [protected, inherited]

Exit and destroy the thread.

Precondition:
this is only called from within the destructor.
Postcondition:
the thread does no longer exist.

Definition at line 608 of file Thread.cpp.

References RTT::os::rtos_task_delete().

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

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 85 of file Activity.cpp.

bool RTT::Activity::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:
trueWhen this->isActive() and the implementation allows external triggers.
falseWhen !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 127 of file Activity.cpp.

References isActive(), and start().


Member Data Documentation

int RTT::os::ThreadInterface::threadnb [protected, inherited]

Threads are given an unique number, which follows thread creation order.

See also:
os::threads

Definition at line 223 of file ThreadInterface.hpp.


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