Interface to start/stop and query a Activity. More...

#include <rtt/base/ActivityInterface.hpp>

Inheritance diagram for RTT::base::ActivityInterface:

Public Types
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Public Member Functions
	ActivityInterface ()

	ActivityInterface (RunnableInterface *run)

virtual	~ActivityInterface ()

virtual bool	run (RunnableInterface *r)
	Run exclusively this RunnableInterface. More...

virtual bool	start ()=0
	Start the activity. More...

virtual bool	stop ()=0
	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 =0
	Query if the activity is initialized and executing. More...

virtual bool	isActive () const =0
	Query if the activity is started. More...

virtual Seconds	getPeriod () const =0
	Get the periodicity of this activity in Seconds. More...

virtual bool	isPeriodic () const =0
	Inspect if this activity is periodic. More...

virtual bool	setPeriod (Seconds s)=0
	Set the periodicity of this activity in Seconds. More...

virtual unsigned	getCpuAffinity () const =0
	Get the cpu affinity of this activity. More...

virtual bool	setCpuAffinity (unsigned cpu)=0
	Set the cpu affinity of this activity. More...

virtual bool	execute ()=0
	Execute this activity such that it executes a step or loop of the RunnableInterface. More...

virtual bool	trigger ()=0
	Trigger that work has to be done. More...

virtual bool	timeout ()=0
	Requests this Activity to wakeup and call step() + work(Timeout). More...

virtual os::ThreadInterface *	thread ()=0
	Returns a pointer to the thread which will run this activity. More...

virtual RunnableInterface *	getRunner () const
	Returns a pointer to the RunnableInterface instance. More...

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. More...

Protected Attributes
RunnableInterface *	runner

Friends
class	RunnableInterface

Detailed Description

Interface to start/stop and query a Activity.

A ActivityInterface provides the control methods for activities. An activity can be periodic, non periodic, event driven or any activity object which can be started, stopped and be queried for their state and (optional) period.

It is complementary to the RunnableInterface, which defines the methods for the functionality that is executed.

See also: RunnableInterface

Definition at line 62 of file ActivityInterface.hpp.

Member Typedef Documentation

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

Examples:: /home/jenkins/workspace/rtt-doc/rtt/TaskContext.hpp.

Definition at line 77 of file ActivityInterface.hpp.

Constructor & Destructor Documentation

RTT::base::ActivityInterface::ActivityInterface ( )

inline

Definition at line 79 of file ActivityInterface.hpp.

ActivityInterface::ActivityInterface ( RunnableInterface * run )

Definition at line 45 of file ActivityInterface.cpp.

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

ActivityInterface::~ActivityInterface ( )

virtual

Definition at line 50 of file ActivityInterface.cpp.

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

Member Function Documentation

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

inlineprotected

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().

virtual bool RTT::base::ActivityInterface::execute ( )

pure 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.

Implemented in RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::SequentialActivity, and RTT::extras::SimulationActivity.

Referenced by RTT::base::TaskCore::update().

virtual unsigned RTT::base::ActivityInterface::getCpuAffinity ( ) const

pure virtual

Get the cpu affinity of this activity.

Returns: The cpu affinity of this activity.

Implemented in RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::SlaveActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::extras::SlaveActivity::getCpuAffinity(), and RTT::base::TaskCore::getCpuAffinity().

virtual Seconds RTT::base::ActivityInterface::getPeriod ( ) const

pure virtual

Get the periodicity of this activity in Seconds.

Returns: The execution period of this activity (zero if !this->isPeriodic() ).

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::SlaveActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::extras::SlaveActivity::getPeriod(), and RTT::base::TaskCore::getPeriod().

RunnableInterface * ActivityInterface::getRunner ( ) const

virtual

Returns a pointer to the RunnableInterface instance.

Definition at line 70 of file ActivityInterface.cpp.

References runner.

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

virtual bool RTT::base::ActivityInterface::isActive ( ) const

pure 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

Implemented in RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::base::TaskCore::isActive(), RTT::ExecutionEngine::removeFunction(), run(), and RTT::extras::SlaveActivity::start().

virtual bool RTT::base::ActivityInterface::isPeriodic ( ) const

pure 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.

Implemented in RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, and RTT::extras::SequentialActivity.

virtual bool RTT::base::ActivityInterface::isRunning ( ) const

pure 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

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::base::RunnableInterface::~RunnableInterface().

bool ActivityInterface::run ( RunnableInterface * r )

virtual

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

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

virtual bool RTT::base::ActivityInterface::setCpuAffinity ( unsigned cpu )

pure virtual

Set the cpu affinity of this activity.

Returns: true if it could be updated, false otherwise.

Implemented in RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::SlaveActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::base::TaskCore::setCpuAffinity().

virtual bool RTT::base::ActivityInterface::setPeriod ( Seconds s )

pure 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.

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::SlaveActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::base::TaskCore::setPeriod().

virtual bool RTT::base::ActivityInterface::start ( )

pure 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

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::IRQActivity, RTT::extras::SequentialActivity, and RTT::extras::SimulationActivity.

Referenced by RTT::base::TaskCore::activate(), RTT::ExecutionEngine::stopTask(), RTT::corba::TaskContextServer::ThreadOrb(), and RTT::os::Timer::Timer().

virtual bool RTT::base::ActivityInterface::stop ( )

pure 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

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::corba::TaskContextServer::DestroyOrb(), RTT::base::TaskCore::fatal(), RTT::TaskContext::forceActivity(), and RTT::TaskContext::setActivity().

virtual os::ThreadInterface* RTT::base::ActivityInterface::thread ( )

pure virtual

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

Will not be null.

Implemented in RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::FileDescriptorSimulationActivity, RTT::extras::SlaveActivity, RTT::extras::SimulationActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::base::RunnableInterface::getThread(), and RTT::extras::SlaveActivity::thread().

virtual bool RTT::base::ActivityInterface::timeout ( )

pure virtual

Requests this Activity to wakeup and call step() + work(Timeout).

Will be ignored for periodic activities, since they use an internal timing mechanism, but can be used for non-periodic activities which want to emulate a timeout happening towards the base::RunnableInterface.

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::scripting::StateMachine::createEventTransition(), RTT::extras::SlaveActivity::timeout(), and RTT::base::TaskCore::trigger().

virtual bool RTT::base::ActivityInterface::trigger ( )

pure 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.

Requests this Activity to wakeup and call step() + work(Trigger). If the thread is periodic, it will continue sleeping for the remainder of the time after the work() has finished.

Return values

true	When this->isActive() and the implementation allows external triggers.
false	When !this->isActive() or the implementation does not allow external triggering.

Implemented in RTT::extras::FileDescriptorActivity, RTT::extras::PeriodicActivity, RTT::Activity, RTT::extras::SlaveActivity, RTT::extras::FileDescriptorSimulationActivity, and RTT::extras::SequentialActivity.

Referenced by RTT::ExecutionEngine::process(), and RTT::extras::SlaveActivity::trigger().