Orocos Real-Time Toolkit
2.8.3
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A SimulationActivity is a PeriodicActivity which is used for simulation. More...
#include <rtt/extras/SimulationActivity.hpp>
Public Types | |
typedef boost::shared_ptr< ActivityInterface > | shared_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::ThreadInterface * | thread () |
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 RunnableInterface * | getRunner () 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... | |
RunnableInterface * | runner |
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'.
Definition at line 59 of file SimulationActivity.hpp.
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inherited |
Definition at line 77 of file ActivityInterface.hpp.
RTT::SimulationActivity::SimulationActivity | ( | Seconds | period, |
base::RunnableInterface * | r = 0 |
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Construct a SimulationActivity with a periodicity period Seconds.
Definition at line 46 of file SimulationActivity.cpp.
RTT::SimulationActivity::SimulationActivity | ( | secs | s, |
nsecs | ns, | ||
base::RunnableInterface * | r = 0 |
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Construct a SimulationActivity with a periodicity of s seconds and ns nanoseconds.
Definition at line 51 of file SimulationActivity.cpp.
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virtual |
Destroys this instance.
The Activity is stopped.
Definition at line 56 of file SimulationActivity.cpp.
References RTT::extras::PeriodicActivity::stop().
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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().
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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().
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virtualinherited |
Definition at line 202 of file PeriodicActivity.cpp.
References RTT::base::RunnableInterface::finalize(), and RTT::base::ActivityInterface::runner.
Referenced by start(), RTT::extras::PeriodicActivity::start(), and RTT::extras::PeriodicActivity::stop().
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virtualinherited |
Get the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
Definition at line 168 of file PeriodicActivity.cpp.
References RTT::extras::PeriodicActivity::thread_.
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virtualinherited |
Get the periodicity of this activity in Seconds.
Implements RTT::base::ActivityInterface.
Definition at line 159 of file PeriodicActivity.cpp.
References RTT::extras::PeriodicActivity::thread_.
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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().
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protectedinherited |
Definition at line 100 of file PeriodicActivity.cpp.
Referenced by RTT::extras::PeriodicActivity::PeriodicActivity().
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virtualinherited |
Definition at line 178 of file PeriodicActivity.cpp.
References RTT::base::RunnableInterface::initialize(), and RTT::base::ActivityInterface::runner.
Referenced by start(), and RTT::extras::PeriodicActivity::start().
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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.
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().
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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().
Implements RTT::base::ActivityInterface.
Definition at line 209 of file PeriodicActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 149 of file PeriodicActivity.cpp.
References RTT::extras::PeriodicActivity::running.
Referenced by execute().
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virtualinherited |
Run exclusively this RunnableInterface.
r | The RunnableInterface to run exclusively. |
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().
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virtualinherited |
Set the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
Definition at line 173 of file PeriodicActivity.cpp.
References RTT::extras::PeriodicActivity::thread_.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 164 of file PeriodicActivity.cpp.
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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_.
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virtualinherited |
Definition at line 195 of file PeriodicActivity.cpp.
References RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::step().
Referenced by execute().
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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.
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().
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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().
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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.
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.
Definition at line 190 of file PeriodicActivity.cpp.
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protectedinherited |
State info.
Definition at line 221 of file PeriodicActivity.hpp.
Referenced by RTT::extras::PeriodicActivity::isActive(), start(), RTT::extras::PeriodicActivity::start(), and RTT::extras::PeriodicActivity::stop().
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protectedinherited |
Definition at line 65 of file ActivityInterface.hpp.
Referenced by RTT::base::ActivityInterface::ActivityInterface(), RTT::Activity::breakLoop(), RTT::extras::SlaveActivity::execute(), RTT::Activity::finalize(), RTT::extras::PeriodicActivity::finalize(), RTT::base::ActivityInterface::getRunner(), RTT::Activity::initialize(), RTT::extras::PeriodicActivity::initialize(), RTT::Activity::loop(), RTT::base::ActivityInterface::run(), RTT::extras::SequentialActivity::start(), RTT::extras::SlaveActivity::start(), RTT::Activity::step(), RTT::extras::PeriodicActivity::step(), RTT::extras::FileDescriptorActivity::step(), RTT::extras::SequentialActivity::stop(), RTT::extras::SlaveActivity::stop(), RTT::extras::SequentialActivity::trigger(), and RTT::base::ActivityInterface::~ActivityInterface().
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protectedinherited |
State info.
Definition at line 216 of file PeriodicActivity.hpp.
Referenced by RTT::extras::PeriodicActivity::isRunning(), start(), RTT::extras::PeriodicActivity::start(), and RTT::extras::PeriodicActivity::stop().
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protectedinherited |
The thread which runs this activity.
Definition at line 226 of file PeriodicActivity.hpp.
Referenced by RTT::extras::PeriodicActivity::getCpuAffinity(), RTT::extras::PeriodicActivity::getPeriod(), RTT::extras::PeriodicActivity::setCpuAffinity(), start(), RTT::extras::PeriodicActivity::start(), RTT::extras::PeriodicActivity::stop(), and RTT::extras::PeriodicActivity::thread().