An execution engine serialises (executes one after the other) the execution of all commands, programs, state machines and incoming events for a task. More...

#include <rtt/ExecutionEngine.hpp>

Inheritance diagram for RTT::ExecutionEngine:

Public Types
enum	WorkReason { TimeOut = 0, Trigger, IOReady }

Public Member Functions
	ExecutionEngine (base::TaskCore *owner=0)
	Create an execution engine with a internal::CommandProcessor, scripting::ProgramProcessor and StateMachineProcessor. More...

	~ExecutionEngine ()

base::TaskCore *	getParent ()
	The base::TaskCore which created this ExecutionEngine. More...

base::TaskCore *	getTaskCore () const
	Returns the owner of this execution engine. More...

virtual bool	process (base::DisposableInterface *c)
	Queue and execute (process) a given message. More...

virtual bool	process (base::PortInterface *port)
	Queue and execute (process) a given port callback. More...

virtual bool	runFunction (base::ExecutableInterface *f)
	Run a given function in step() or loop(). More...

virtual bool	removeFunction (base::ExecutableInterface *f)
	Remove a running function added with runFunction. More...

virtual bool	removeSelfFunction (base::ExecutableInterface *f)
	Self-removal for a running function added with runFunction. More...

void	waitForMessages (const boost::function< bool(void)> &pred)
	Call this if you wish to block on a message arriving in the Execution Engine. More...

bool	stopTask (base::TaskCore *task)
	Stops executing the updateHook of task. More...

void	setExceptionTask ()
	Set the 'owner' task in the exception state. More...

void	setMaster (ExecutionEngine *master)
	Set the master ExecutionEngine. More...

virtual void	setActivity (base::ActivityInterface *task)
	Overridden version of RTT::base::RunnableInterface::setActivity(). More...

virtual os::ThreadInterface *	getThread () const
	Get the thread that processes messages send to this engine. More...

bool	isSelf () const
	Check if the thread that processes messages send to this engine is the same as the calling thread. More...

virtual void	loop ()
	The method that will be executed once when this class is run in a non periodic Activity. More...

ActivityInterface *	getActivity () const
	Query for the task this interface is run in. More...

Protected Member Functions
void	waitForMessagesInternal (boost::function< bool(void)> const &pred)
	Call this if you wish to block on a message arriving in the Execution Engine. More...

void	waitAndProcessMessages (boost::function< bool(void)> const &pred)
	Call this if you wish to block on a message arriving in the Execution Engine and execute it. More...

void	processMessages ()

void	processPortCallbacks ()

void	processFunctions ()

void	processHooks ()

virtual bool	initialize ()
	The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started. More...

virtual void	step ()
	Executes (in that order) Messages, Functions and updateHook() functions of this TaskContext and its children. More...

virtual void	work (RunnableInterface::WorkReason reason)
	Identical to step() but gives a reason why the function was called. More...

virtual bool	breakLoop ()
	This method is called by the framework to break out of the loop() method. More...

virtual void	finalize ()
	The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped. More...

virtual bool	hasWork ()
	This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again). More...

Protected Attributes
base::TaskCore *	taskc
	The parent or 'owner' of this ExecutionEngine, may be null. More...

internal::MWSRQueue< base::DisposableInterface * > *	mqueue
	Our Message queue. More...

internal::MWSRQueue< base::PortInterface * > *	port_queue
	The port callback queue. More...

internal::MWSRQueue< base::ExecutableInterface * > *	f_queue
	Stores all functions we're executing. More...

os::Mutex	msg_lock

os::Condition	msg_cond

ExecutionEngine *	mmaster
	A master ExecutionEngine which should process our messages. More...

Detailed Description

An execution engine serialises (executes one after the other) the execution of all commands, programs, state machines and incoming events for a task.

Any function executing in the same execution engine is guaranteed to be thread-safe with respect to other functions executing in the same execution engine.

Definition at line 69 of file ExecutionEngine.hpp.

Member Enumeration Documentation

enum RTT::base::RunnableInterface::WorkReason

inherited

Enumerator
TimeOut
Trigger
IOReady

Definition at line 76 of file RunnableInterface.hpp.

Constructor & Destructor Documentation

RTT::ExecutionEngine::ExecutionEngine ( base::TaskCore * owner = 0 )

Create an execution engine with a internal::CommandProcessor, scripting::ProgramProcessor and StateMachineProcessor.

Parameters

owner The base::TaskCore in which this execution engine executes. It may be null, in that case no base::TaskCore owns this execution engine.

Definition at line 68 of file ExecutionEngine.cpp.

RTT::ExecutionEngine::~ExecutionEngine ( )

Definition at line 77 of file ExecutionEngine.cpp.

References RTT::base::DisposableInterface::dispose(), f_queue, mqueue, port_queue, and RTT::base::ExecutableInterface::unloaded().

Member Function Documentation

bool RTT::ExecutionEngine::breakLoop ( )

protectedvirtual

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns: true if the loop could be notified to return.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 427 of file ExecutionEngine.cpp.

References RTT::base::TaskCore::breakUpdateHook(), and taskc.

void RTT::ExecutionEngine::finalize ( )

protectedvirtual

The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.

Implements RTT::base::RunnableInterface.

Definition at line 460 of file ExecutionEngine.cpp.

ActivityInterface * RTT::base::RunnableInterface::getActivity ( ) const

inlineinherited

Query for the task this interface is run in.

Zero denotes that no task is present to run it, and hence no detailed information is available.

Returns: The Activity which runs this RunnableInterface.

Definition at line 175 of file RunnableInterface.hpp.

Referenced by RTT::base::TaskCore::activate(), RTT::scripting::StateMachine::createEventTransition(), RTT::base::TaskCore::fatal(), RTT::TaskContext::getActivity(), RTT::base::TaskCore::getCpuAffinity(), RTT::base::TaskCore::getPeriod(), RTT::base::TaskCore::isActive(), process(), removeFunction(), runFunction(), RTT::base::TaskCore::setCpuAffinity(), RTT::base::TaskCore::setPeriod(), stopTask(), RTT::base::TaskCore::trigger(), and RTT::base::TaskCore::update().

TaskCore * RTT::ExecutionEngine::getParent ( )

The base::TaskCore which created this ExecutionEngine.

Identical to getTaskCore().

Definition at line 94 of file ExecutionEngine.cpp.

References taskc.

Referenced by RTT::extras::IRQActivity::start(), and RTT::base::TaskCore::~TaskCore().

base::TaskCore* RTT::ExecutionEngine::getTaskCore ( ) const

inline

Returns the owner of this execution engine.

Identical to getParent().

Definition at line 93 of file ExecutionEngine.hpp.

os::ThreadInterface * RTT::ExecutionEngine::getThread ( ) const

virtual

Get the thread that processes messages send to this engine.

See also: reimplementation of base::RunnableInterface::getThread()

Returns: a pointer to the thread, or 0 if there is no activity assigned.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 312 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::getThread(), getThread(), and mmaster.

Referenced by getThread(), and isSelf().

bool RTT::ExecutionEngine::hasWork ( )

protectedvirtual

This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again).

By default, false is returned. You should only return true in case there is a temporary reason to (re-)run step.

Returns: true if this object should be run.

See also: extras::SequentialActivity implementation to see how this can be of use.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 194 of file ExecutionEngine.cpp.

References mqueue.

bool RTT::ExecutionEngine::initialize ( )

protectedvirtual

The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.

Implements RTT::base::RunnableInterface.

Definition at line 190 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::isSelf ( ) const

Check if the thread that processes messages send to this engine is the same as the calling thread.

This method is typically used to check if operation or function calls can be inlined or even must be inlined to resolve potential dead-locks.

Returns: true if it is safe to process messages directly that otherwise would have been passed to ExecutionEngine::process(base::DisposableInterface *)

Definition at line 320 of file ExecutionEngine.cpp.

References getThread(), and RTT::os::ThreadInterface::isSelf().

Referenced by RTT::scripting::CallFunction::execute(), RTT::base::OperationCallerInterface::isSend(), and waitForMessages().

void RTT::RunnableInterface::loop ( )

virtualinherited

The method that will be executed once when this class is run in a non periodic Activity.

The default implementation calls step() once.

Reimplemented in RTT::os::Timer.

Definition at line 60 of file CoreRunnableInterface.cpp.

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

Referenced by RTT::extras::SlaveActivity::execute(), and RTT::Activity::loop().

bool RTT::ExecutionEngine::process ( base::DisposableInterface * c )

virtual

Queue and execute (process) a given message.

The message is executed in step() or loop() directly after all other queued ActionInterface objects. The constructor parameter queue_size limits how many messages can be queued in between step()s or loop().

Returns: true if the message got accepted, false otherwise.; false if the engine does not accept messages.

Definition at line 242 of file ExecutionEngine.cpp.

References RTT::os::Condition::broadcast(), RTT::base::TaskCore::FatalError, RTT::base::RunnableInterface::getActivity(), mmaster, mqueue, msg_cond, RTT::base::TaskCore::mTaskState, process(), taskc, and RTT::base::ActivityInterface::trigger().

Referenced by RTT::internal::LocalOperationCallerImpl< FunctionT >::do_send(), RTT::scripting::CallFunction::execute(), RTT::internal::LocalOperationCallerImpl< FunctionT >::executeAndDispose(), RTT::internal::FusedMSignal< Signature >::invoke(), process(), removeFunction(), and RTT::TaskContext::stop().

bool RTT::ExecutionEngine::process ( base::PortInterface * port )

virtual

Queue and execute (process) a given port callback.

The port callback is executed in step() or loop() directly after the queued messages.

Returns: true if the port callback got accepted, false otherwise.; false if the engine does not accept messages.

Definition at line 262 of file ExecutionEngine.cpp.

References RTT::base::TaskCore::FatalError, RTT::base::RunnableInterface::getActivity(), mmaster, RTT::base::TaskCore::mTaskState, port_queue, process(), taskc, and RTT::base::ActivityInterface::trigger().

void RTT::ExecutionEngine::processFunctions ( )

protected

Definition at line 98 of file ExecutionEngine.cpp.

References RTT::os::Condition::broadcast(), RTT::base::ExecutableInterface::execute(), f_queue, msg_cond, and RTT::base::ExecutableInterface::unloaded().

Referenced by work().

void RTT::ExecutionEngine::processHooks ( )

protected

Definition at line 395 of file ExecutionEngine.cpp.

References CATCH, CATCH_ALL, RTT::Error, RTT::base::TaskCore::errorHook(), RTT::base::TaskCore::exception(), RTT::base::TaskCore::mTaskState, RTT::base::TaskCore::Running, RTT::base::TaskCore::RunTimeError, taskc, TRY, and RTT::base::TaskCore::updateHook().

Referenced by work().

void RTT::ExecutionEngine::processMessages ( )

protected

Definition at line 199 of file ExecutionEngine.cpp.

References RTT::os::Condition::broadcast(), RTT::base::DisposableInterface::executeAndDispose(), mqueue, msg_cond, and msg_lock.

Referenced by waitAndProcessMessages(), and work().

void RTT::ExecutionEngine::processPortCallbacks ( )

protected

Definition at line 224 of file ExecutionEngine.cpp.

References RTT::TaskContext::dataOnPortCallback(), port_queue, and taskc.

Referenced by work().

bool RTT::ExecutionEngine::removeFunction ( base::ExecutableInterface * f )

virtual

Remove a running function added with runFunction.

This method is only required if the function is to be destroyed and is still present in the Engine.

Definition at line 145 of file ExecutionEngine.cpp.

References RTT::RemoveMsg::done(), RTT::RemoveMsg::found, RTT::base::RunnableInterface::getActivity(), RTT::base::ActivityInterface::isActive(), RTT::base::ExecutableInterface::isLoaded(), process(), removeSelfFunction(), RTT::base::ExecutableInterface::unloaded(), and waitForMessages().

Referenced by RTT::scripting::ScriptingService::recursiveUnloadStateMachine(), RTT::scripting::CmdFunction::reset(), RTT::scripting::ScriptingService::unloadProgram(), RTT::scripting::FunctionGraph::~FunctionGraph(), and RTT::scripting::StateMachine::~StateMachine().

bool RTT::ExecutionEngine::removeSelfFunction ( base::ExecutableInterface * f )

virtual

Self-removal for a running function added with runFunction.

You must call this variant in case you want yourself to be removed. Equivalent to returning false in ExecutableInterface::execute().

Definition at line 171 of file ExecutionEngine.cpp.

References f_queue.

Referenced by RTT::RemoveMsg::executeAndDispose(), and removeFunction().

bool RTT::ExecutionEngine::runFunction ( base::ExecutableInterface * f )

virtual

Run a given function in step() or loop().

The function may only be destroyed after the ExecutionEngine is stopped or removeFunction() was invoked. The number of functions the Processor can run in parallel can be increased with setMaxFunctions().

Returns: false if the Engine is not running or the 'pending' queue is full.

See also: removeFunction(), setMaxFunctions()

Definition at line 117 of file ExecutionEngine.cpp.

References f_queue, RTT::base::TaskCore::FatalError, RTT::base::RunnableInterface::getActivity(), RTT::base::ExecutableInterface::loaded(), RTT::base::TaskCore::mTaskState, and taskc.

Referenced by RTT::scripting::CallFunction::execute(), RTT::scripting::CmdFunction::get(), RTT::scripting::ScriptingService::loadFunctions(), RTT::scripting::ScriptingService::loadProgram(), and RTT::scripting::ScriptingService::recursiveLoadStateMachine().

void RTT::ExecutionEngine::setActivity ( base::ActivityInterface * task )

virtual

Overridden version of RTT::base::RunnableInterface::setActivity().

This version will also set the master ExecutionEngine if the new activity is a SlaveActivity that runs an ExecutionEngine.

Parameters

task	The ActivityInterface running this interface.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 300 of file ExecutionEngine.cpp.

References RTT::extras::SlaveActivity::getMaster(), RTT::base::ActivityInterface::getRunner(), RTT::base::RunnableInterface::setActivity(), and setMaster().

void RTT::ExecutionEngine::setExceptionTask ( )

Set the 'owner' task in the exception state.

Definition at line 445 of file ExecutionEngine.cpp.

References RTT::Error, RTT::base::TaskCore::exception(), RTT::TaskContext::getName(), and taskc.

Referenced by RTT::base::OperationCallerInterface::reportError().

void RTT::ExecutionEngine::setMaster ( ExecutionEngine * master )

Set the master ExecutionEngine.

If set, all incoming messages are forwarded to the master.

Parameters

master The new master ExecutionEngine.

Definition at line 295 of file ExecutionEngine.cpp.

References mmaster.

Referenced by setActivity().

void RTT::ExecutionEngine::step ( )

protectedvirtual

Executes (in that order) Messages, Functions and updateHook() functions of this TaskContext and its children.

Implements RTT::base::RunnableInterface.

Definition at line 361 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::stopTask ( base::TaskCore * task )

Stops executing the updateHook of task.

This is an explicit synchronisation point, which guarantees that updateHook is no longer executed when this function returns true.

Parameters

task	The Task calling this function and whose updateHook should no longer be executed.

Returns: true if it's updateHook() is no longer being executed, false otherwise.

Definition at line 434 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::getActivity(), and RTT::base::ActivityInterface::start().

void RTT::ExecutionEngine::waitAndProcessMessages ( boost::function< bool(void)> const & pred )

protected

Call this if you wish to block on a message arriving in the Execution Engine and execute it.

Parameters

pred	As long as !pred() waits and processes messages. If pred() == true when entering this function, then no messages will be processed and this function returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Note: waitAndProcessMessages will call in turn this->processMessages() and may as a consequence recurse if we get an asynchronous call-back.

Definition at line 338 of file ExecutionEngine.cpp.

References mmaster, msg_cond, msg_lock, processMessages(), and RTT::os::Condition::wait().

Referenced by waitForMessages().

void RTT::ExecutionEngine::waitForMessages ( const boost::function< bool(void)> & pred )

Call this if you wish to block on a message arriving in the Execution Engine.

Each time one or more messages are processed, waitForMessages will return when pred() returns true.

Parameters

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Definition at line 281 of file ExecutionEngine.cpp.

References isSelf(), mmaster, waitAndProcessMessages(), waitForMessages(), and waitForMessagesInternal().

Referenced by RTT::internal::LocalOperationCallerImpl< FunctionT >::collect_impl(), RTT::scripting::CallFunction::execute(), removeFunction(), and waitForMessages().

void RTT::ExecutionEngine::waitForMessagesInternal ( boost::function< bool(void)> const & pred )

protected

Call this if you wish to block on a message arriving in the Execution Engine.

Each time one or more messages are processed, waitForMessages will return when pred() returns true.

Parameters

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, the returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Note: waitForMessages requires another thread to execute processMessages() and may therefor not be called from within the component's Thread. Use waitAndProcessMessages() instead.

Definition at line 325 of file ExecutionEngine.cpp.

References mmaster, msg_cond, msg_lock, and RTT::os::Condition::wait().

Referenced by waitForMessages().

void RTT::ExecutionEngine::work ( RunnableInterface::WorkReason reason )

protectedvirtual

Identical to step() but gives a reason why the function was called.

Both step() and work() will be called an equal amount of times, so you need to use only one, but work gives you the reason why.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 365 of file ExecutionEngine.cpp.

References RTT::base::RunnableInterface::IOReady, RTT::base::TaskCore::mCycleCounter, RTT::base::TaskCore::mIOCounter, RTT::base::TaskCore::mTimeOutCounter, RTT::base::TaskCore::mTriggerCounter, processFunctions(), processHooks(), processMessages(), processPortCallbacks(), taskc, RTT::base::RunnableInterface::TimeOut, and RTT::base::RunnableInterface::Trigger.