Orocos Real-Time Toolkit  2.8.3
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
RTT::extras::SimulationActivity Class Reference

A SimulationActivity is a PeriodicActivity which is used for simulation. More...

#include <rtt/extras/SimulationActivity.hpp>

Inheritance diagram for RTT::extras::SimulationActivity:
RTT::extras::PeriodicActivity RTT::base::ActivityInterface

Public Types

typedef boost::shared_ptr< ActivityInterfaceshared_ptr
 

Public Member Functions

 SimulationActivity (Seconds period, base::RunnableInterface *r=0)
 Construct a SimulationActivity with a periodicity period Seconds. More...
 
 SimulationActivity (secs s, nsecs ns, base::RunnableInterface *r=0)
 Construct a SimulationActivity with a periodicity of s seconds and ns nanoseconds. More...
 
virtual bool start ()
 A simulated activity can be started also if the SimulationThread is not running yet. More...
 
virtual bool execute ()
 When a SimulationActivity is started, it may be executed by the user as well. More...
 
virtual ~SimulationActivity ()
 Destroys this instance. More...
 
virtual os::ThreadInterfacethread ()
 Returns a pointer to the thread which will run this activity. More...
 
virtual bool trigger ()
 Trigger that work has to be done. More...
 
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(). More...
 
virtual bool isRunning () const
 Query if the activity is initialized and executing. More...
 
virtual bool isActive () const
 Query if the activity is started. More...
 
virtual bool isPeriodic () const
 Inspect if this activity is periodic. More...
 
virtual Seconds getPeriod () const
 Get the periodicity of this activity in Seconds. More...
 
virtual bool setPeriod (Seconds s)
 Set the periodicity of this activity in Seconds. More...
 
virtual unsigned getCpuAffinity () const
 Get the cpu affinity of this activity. More...
 
virtual bool setCpuAffinity (unsigned cpu)
 Set the cpu affinity of this activity. More...
 
virtual bool initialize ()
 
virtual void step ()
 
virtual void finalize ()
 
virtual bool run (RunnableInterface *r)
 Run exclusively this RunnableInterface. More...
 
virtual RunnableInterfacegetRunner () const
 Returns a pointer to the RunnableInterface instance. More...
 

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. More...
 

Protected Attributes

bool running
 State info. More...
 
bool active
 State info. More...
 
TimerThreadPtr thread_
 The thread which runs this activity. More...
 
RunnableInterfacerunner
 

Detailed Description

A SimulationActivity is a PeriodicActivity which is used for simulation.

They all run in the same thread at the same period, which updates the the system clock such that the SimulationActivity appears to run in realtime, while it runs 'as fast as possible'.

Note
The period is fixed by the SimulationThread, which runs all SimulationActivities at the same period.

Definition at line 59 of file SimulationActivity.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<ActivityInterface> RTT::base::ActivityInterface::shared_ptr
inherited

Constructor & Destructor Documentation

RTT::SimulationActivity::SimulationActivity ( Seconds  period,
base::RunnableInterface r = 0 
)

Construct a SimulationActivity with a periodicity period Seconds.

Note
period is ignored.

Definition at line 46 of file SimulationActivity.cpp.

RTT::SimulationActivity::SimulationActivity ( secs  s,
nsecs  ns,
base::RunnableInterface r = 0 
)

Construct a SimulationActivity with a periodicity of s seconds and ns nanoseconds.

Note
s and ns are ignored.

Definition at line 51 of file SimulationActivity.cpp.

RTT::SimulationActivity::~SimulationActivity ( )
virtual

Destroys this instance.

The Activity is stopped.

Definition at line 56 of file SimulationActivity.cpp.

References RTT::extras::PeriodicActivity::stop().

Member Function Documentation

void RTT::base::ActivityInterface::disableRun ( RunnableInterface caller)
inlineprotectedinherited

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::SimulationActivity::execute ( )
virtual

When a SimulationActivity is started, it may be executed by the user as well.

Reimplemented from RTT::extras::PeriodicActivity.

Definition at line 65 of file SimulationActivity.cpp.

References RTT::extras::PeriodicActivity::isRunning(), and RTT::extras::PeriodicActivity::step().

void RTT::PeriodicActivity::finalize ( )
virtualinherited
unsigned RTT::PeriodicActivity::getCpuAffinity ( ) const
virtualinherited

Get the cpu affinity of this activity.

Returns
The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 168 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::thread_.

Seconds RTT::PeriodicActivity::getPeriod ( ) const
virtualinherited

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 159 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::thread_.

RunnableInterface * ActivityInterface::getRunner ( ) const
virtualinherited

Returns a pointer to the RunnableInterface instance.

Definition at line 70 of file ActivityInterface.cpp.

References RTT::base::ActivityInterface::runner.

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

void RTT::PeriodicActivity::init ( )
protectedinherited
bool RTT::PeriodicActivity::initialize ( )
virtualinherited
bool RTT::PeriodicActivity::isActive ( ) const
virtualinherited

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 154 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::active.

Referenced by start(), RTT::extras::PeriodicActivity::start(), and RTT::extras::PeriodicActivity::stop().

bool RTT::PeriodicActivity::isPeriodic ( ) const
virtualinherited

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 209 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::isRunning ( ) const
virtualinherited

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.

Definition at line 149 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::running.

Referenced by execute().

bool ActivityInterface::run ( RunnableInterface r)
virtualinherited

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(), RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::setActivity().

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

bool RTT::PeriodicActivity::setCpuAffinity ( unsigned  cpu)
virtualinherited

Set the cpu affinity of this activity.

Returns
true if it could be updated, false otherwise.

Implements RTT::base::ActivityInterface.

Definition at line 173 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::thread_.

bool RTT::PeriodicActivity::setPeriod ( Seconds  s)
virtualinherited

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 164 of file PeriodicActivity.cpp.

bool RTT::SimulationActivity::start ( )
virtual

A simulated activity can be started also if the SimulationThread is not running yet.

This allows all tasks to be set ready in advance before the whole simulation is started.

Reimplemented from RTT::extras::PeriodicActivity.

Definition at line 76 of file SimulationActivity.cpp.

References RTT::extras::PeriodicActivity::active, RTT::extras::PeriodicActivity::finalize(), RTT::extras::PeriodicActivity::initialize(), RTT::extras::PeriodicActivity::isActive(), RTT::extras::PeriodicActivity::running, and RTT::extras::PeriodicActivity::thread_.

void RTT::PeriodicActivity::step ( )
virtualinherited
bool RTT::PeriodicActivity::stop ( )
virtualinherited

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.

Definition at line 134 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::active, RTT::extras::PeriodicActivity::finalize(), RTT::extras::PeriodicActivity::isActive(), RTT::extras::PeriodicActivity::running, and RTT::extras::PeriodicActivity::thread_.

Referenced by RTT::extras::PeriodicActivity::~PeriodicActivity(), and ~SimulationActivity().

os::ThreadInterface * RTT::SimulationActivity::thread ( )
virtual

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

Will not be null.

Reimplemented from RTT::extras::PeriodicActivity.

Definition at line 61 of file SimulationActivity.cpp.

References RTT::extras::SimulationThread::Instance().

bool RTT::PeriodicActivity::trigger ( )
virtualinherited

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.

Definition at line 190 of file PeriodicActivity.cpp.

Member Data Documentation

bool RTT::extras::PeriodicActivity::active
protectedinherited
RunnableInterface* RTT::base::ActivityInterface::runner
protectedinherited
bool RTT::extras::PeriodicActivity::running
protectedinherited
TimerThreadPtr RTT::extras::PeriodicActivity::thread_
protectedinherited

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