Orocos Real-Time Toolkit  2.8.3
SimulationActivity.cpp
Go to the documentation of this file.
1 /***************************************************************************
2  tag: Peter Soetens Tue Dec 21 22:43:07 CET 2004 SimulationActivity.cxx
3 
4  SimulationActivity.cxx - description
5  -------------------
6  begin : Tue December 21 2004
7  copyright : (C) 2004 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU General Public *
13  * License as published by the Free Software Foundation; *
14  * version 2 of the License. *
15  * *
16  * As a special exception, you may use this file as part of a free *
17  * software library without restriction. Specifically, if other files *
18  * instantiate templates or use macros or inline functions from this *
19  * file, or you compile this file and link it with other files to *
20  * produce an executable, this file does not by itself cause the *
21  * resulting executable to be covered by the GNU General Public *
22  * License. This exception does not however invalidate any other *
23  * reasons why the executable file might be covered by the GNU General *
24  * Public License. *
25  * *
26  * This library is distributed in the hope that it will be useful, *
27  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
28  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
29  * Lesser General Public License for more details. *
30  * *
31  * You should have received a copy of the GNU General Public *
32  * License along with this library; if not, write to the Free Software *
33  * Foundation, Inc., 59 Temple Place, *
34  * Suite 330, Boston, MA 02111-1307 USA *
35  * *
36  ***************************************************************************/
37 
38 
39 #include "SimulationActivity.hpp"
40 #include "SimulationThread.hpp"
41 
42 namespace RTT {
43  using namespace base;
44  using namespace extras;
45 
47  :PeriodicActivity(period,SimulationThread::Instance(), r)
48  {
49  }
50 
52  :PeriodicActivity(sec, nsec,SimulationThread::Instance(), r)
53  {
54  }
55 
57  {
58  stop();
59  }
60 
62  return SimulationThread::Instance()->simthread();
63  }
64 
66  {
67  if ( this->isRunning() ) {
68  this->step();
69  return true;
70  }
71  return false;
72  }
73 
74 
75  // COPY/PASTE from PeriodicActivity.cxx
77  {
78  if ( isActive() ) { //|| !thread_->isRunning() ) {
79  //Logger::log() << Logger::Error << "PeriodicActivity : no timer, already active or thread not running." << Logger::endl;
80  return false;
81  }
82 
83  active = true;
84  bool inError = !this->initialize();
85  if ( inError ) {
86  //Logger::log() << Logger::Error << "PeriodicActivity : initialize() returned false " << Logger::endl;
87  active = false;
88  return false;
89  }
90 
91  bool res;
92  res = thread_->addActivity( this );
93  if ( res == false ) {
94  //Logger::log() << Logger::Error << "PeriodicActivity : addActivity() returned false " << Logger::endl;
95  this->finalize();
96  active = false;
97  return false;
98  }
99 
100  running = true;
101  return true;
102  }
103 
104 }
virtual os::ThreadInterface * thread()
Returns a pointer to the thread which will run this activity.
double Seconds
Seconds are stored as a double precision float.
Definition: Time.hpp:53
virtual bool isRunning() const
Query if the activity is initialized and executing.
virtual bool stop()
Stop the activity This will stop the activity by removing it from the &#39;run-queue&#39; of a thread or call...
virtual bool execute()
When a SimulationActivity is started, it may be executed by the user as well.
virtual bool isActive() const
Query if the activity is started.
A class for running a certain piece of code in a thread.
long secs
seconds as a signed long.
Definition: Time.hpp:57
SimulationActivity(Seconds period, base::RunnableInterface *r=0)
Construct a SimulationActivity with a periodicity period Seconds.
TimerThreadPtr thread_
The thread which runs this activity.
static SimulationThreadPtr Instance(double period=0.001)
Create the SimulationThread with a given period.
A thread which is being run.
A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constrai...
This thread is the simulated real-time periodic thread in the Orocos system.
virtual ~SimulationActivity()
Destroys this instance.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:51
long long nsecs
nanoseconds as a signed long long.
Definition: Time.hpp:69
virtual bool start()
A simulated activity can be started also if the SimulationThread is not running yet.