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

#include <rtt/Activity.hpp>

Inheritance diagram for RTT::Activity:

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::ThreadInterface *	thread ()
	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
RunnableInterface *	runner
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:

_r	The optional runner, if null, this->loop() is called.
name	The 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:

priority	The priority of this activity.
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The 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:

priority	The priority of this activity.
period	The periodicity of the Activity. A zero is interpreted as non periodic.
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The 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:

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

scheduler	The scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity.
period	The periodicity of the Activity
cpu_affinity	The prefered cpu to run on (a mask)
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The name of the underlying thread.

Definition at line 75 of file Activity.cpp.

Member Function Documentation

bool RTT::Activity::breakLoop ( ) [virtual]

See also:: base::RunnableInterface::breakLoop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::mqueue::Dispatcher, and RTT::corba::CorbaDispatcher.

Definition at line 107 of file Activity.cpp.

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

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:

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 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]

See also:: base::RunnableInterface::initialize()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 89 of file Activity.cpp.

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

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]

See also:: base::RunnableInterface::loop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 100 of file Activity.cpp.

References RTT::base::RunnableInterface::loop(), and step().

bool 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

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:

priority The 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_type

An 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:

ssize the 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:

The	wait 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().

os::ThreadInterface * RTT::Activity::thread ( ) [virtual]

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:

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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 127 of file Activity.cpp.

References isActive(), and start().