A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints. More...

#include <rtt/extras/PeriodicActivity.hpp>

Inheritance diagram for RTT::extras::PeriodicActivity:

Public Types
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Public Member Functions
	PeriodicActivity (int priority, Seconds period, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given priority and period. More...

	PeriodicActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period. More...

	PeriodicActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period. More...

	PeriodicActivity (TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity executing in a given thread. More...

	PeriodicActivity (Seconds period, TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread. More...

	PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread. More...

virtual	~PeriodicActivity ()
	Stops and terminates a PeriodicActivity. More...

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

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

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

virtual bool	timeout ()
	Requests this Activity to wakeup and call step() + work(Timeout). 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 os::ThreadInterface *	thread ()
	Returns a pointer to the thread which will run this activity. More...

virtual bool	initialize ()

virtual void	step ()

virtual void	work (base::RunnableInterface::WorkReason reason)

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

Detailed Description

A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints.

A PeriodicActivity is executed in a TimerThread. Multiple PeriodicActivities having the same priority and periodicity will be executed in the same TimerThread one after the other.

It will execute a base::RunnableInterface, or the equivalent methods in it's own interface when none is given. When initialize() returns false, it will abort start(). If the PeriodicActivity is stop()'ed, finalize() is called in the calling thread of stop().

Definition at line 70 of file PeriodicActivity.hpp.

Member Typedef Documentation

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

inherited

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

Definition at line 77 of file ActivityInterface.hpp.

Constructor & Destructor Documentation

RTT::PeriodicActivity::PeriodicActivity	(	int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given priority and period.

The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.

Parameters

priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 52 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 59 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		unsigned	cpu_affinity,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
cpu_affinity	The prefered cpu to run on (a mask)
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 66 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity	(	TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity executing in a given thread.

Parameters

thread	The thread this Activity will be run in. Both period and priority of this activity will be the same as thread.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 73 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity	(	Seconds	period,
		TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters

period	The periodicity of the PeriodicActivity
thread	The thread this Activity will be run in. The given period must be a multiple of the thread's period.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 80 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::PeriodicActivity	(	secs	sec,
		nsecs	nsec,
		TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters

sec	The periodicity of the PeriodicActivity, seconds partition
nsec	The periodicity of the PeriodicActivity, nanoseconds partition
thread	The thread this Activity will be run in. The given period (sec, nsec) must be a multiple of the thread's period.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 87 of file PeriodicActivity.cpp.

References init().

RTT::PeriodicActivity::~PeriodicActivity ( )

virtual

Stops and terminates a PeriodicActivity.

Definition at line 95 of file PeriodicActivity.cpp.

References 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::PeriodicActivity::execute ( )

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.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 185 of file PeriodicActivity.cpp.

void RTT::PeriodicActivity::finalize ( )

virtual

See also: base::RunnableInterface::finalize()

Definition at line 214 of file PeriodicActivity.cpp.

References RTT::base::RunnableInterface::finalize(), and RTT::base::ActivityInterface::runner.

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

unsigned RTT::PeriodicActivity::getCpuAffinity ( ) const

virtual

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 thread_.

Seconds RTT::PeriodicActivity::getPeriod ( ) const

virtual

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 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 ( )

protected

Definition at line 100 of file PeriodicActivity.cpp.

Referenced by PeriodicActivity().

bool RTT::PeriodicActivity::initialize ( )

virtual

See also: base::RunnableInterface::initialize()

Definition at line 178 of file PeriodicActivity.cpp.

References RTT::base::RunnableInterface::initialize(), and RTT::base::ActivityInterface::runner.

Referenced by RTT::extras::SimulationActivity::start(), and start().

bool RTT::PeriodicActivity::isActive ( ) const

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

Implements RTT::base::ActivityInterface.

Definition at line 154 of file PeriodicActivity.cpp.

References active.

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

bool RTT::PeriodicActivity::isPeriodic ( ) const

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.

Implements RTT::base::ActivityInterface.

Definition at line 221 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::isRunning ( ) const

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

Implements RTT::base::ActivityInterface.

Definition at line 149 of file PeriodicActivity.cpp.

References running.

Referenced by RTT::extras::SimulationActivity::execute().

bool ActivityInterface::run ( RunnableInterface * r )

virtualinherited

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

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

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

virtual

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 thread_.

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

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.

Implements RTT::base::ActivityInterface.

Definition at line 164 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::start ( )

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

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 103 of file PeriodicActivity.cpp.

References active, finalize(), initialize(), isActive(), running, and thread_.

void RTT::PeriodicActivity::step ( )

virtual

See also: base::RunnableInterface::step()

Definition at line 200 of file PeriodicActivity.cpp.

References RTT::base::ActivityInterface::runner, and RTT::base::RunnableInterface::step().

Referenced by RTT::extras::SimulationActivity::execute().

bool RTT::PeriodicActivity::stop ( )

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

Implements RTT::base::ActivityInterface.

Definition at line 134 of file PeriodicActivity.cpp.

References active, finalize(), isActive(), running, and thread_.

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

os::ThreadInterface * RTT::PeriodicActivity::thread ( )

virtual

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

Will not be null.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 219 of file PeriodicActivity.cpp.

References thread_.

bool RTT::PeriodicActivity::timeout ( )

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.

Implements RTT::base::ActivityInterface.

Definition at line 190 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::trigger ( )

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.

Implements RTT::base::ActivityInterface.

Definition at line 195 of file PeriodicActivity.cpp.

void RTT::PeriodicActivity::work ( base::RunnableInterface::WorkReason reason )

virtual