Orocos Real-Time Toolkit
2.9.0
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The default, thread-less activity for any newly created TaskContext. More...
#include <rtt/extras/SequentialActivity.hpp>
Public Types | |
typedef boost::shared_ptr< ActivityInterface > | shared_ptr |
Public Member Functions | |
SequentialActivity (base::RunnableInterface *run=0) | |
Create an activity which is the Sequential. More... | |
~SequentialActivity () | |
Cleanup and notify the base::RunnableInterface that we are gone. More... | |
Seconds | getPeriod () const |
Get the periodicity of this activity in Seconds. More... | |
bool | setPeriod (Seconds s) |
Set the periodicity of this activity in Seconds. More... | |
unsigned | getCpuAffinity () const |
Get the cpu affinity of this activity. More... | |
bool | setCpuAffinity (unsigned cpu) |
Set the cpu affinity of this activity. More... | |
os::ThreadInterface * | thread () |
Returns a pointer to the thread which will run this activity. More... | |
bool | initialize () |
void | step () |
void | loop () |
bool | breakLoop () |
void | finalize () |
bool | start () |
Start the activity. More... | |
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... | |
bool | isRunning () const |
Query if the activity is initialized and executing. More... | |
bool | isPeriodic () const |
Inspect if this activity is periodic. More... | |
bool | isActive () const |
Query if the activity is started. More... | |
bool | execute () |
Execute this activity such that it executes a step or loop of the RunnableInterface. More... | |
bool | trigger () |
Trigger that work has to be done. More... | |
bool | timeout () |
Requests this Activity to wakeup and call step() + work(Timeout). More... | |
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 | 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 |
The default, thread-less activity for any newly created TaskContext.
The presence of this activity object indicates that the TaskContext does not have its own active thread, but executes all asynchronous operations (such as commands and events) in the thread of the caller, so in fact synchronously. The SequentialActivity uses a os::Mutex lock to guard against concurrent executions and makes your TaskContext equally thread-safe as the other activity implementations.
This activity emulates the same behaviour as a NonPeriodicActivity, but without using a thread.
Always returns false.
This causes step() to be executed.
Definition at line 71 of file SequentialActivity.hpp.
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inherited |
Definition at line 77 of file ActivityInterface.hpp.
RTT::SequentialActivity::SequentialActivity | ( | base::RunnableInterface * | run = 0 | ) |
Create an activity which is the Sequential.
The period will be 0.0.
run | Run this instance. |
Definition at line 47 of file SequentialActivity.cpp.
RTT::SequentialActivity::~SequentialActivity | ( | ) |
Cleanup and notify the base::RunnableInterface that we are gone.
Definition at line 52 of file SequentialActivity.cpp.
References stop().
bool RTT::SequentialActivity::breakLoop | ( | ) |
Definition at line 92 of file SequentialActivity.cpp.
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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 |
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().
true | When this->isActive() and the implementation allows external executes. |
false | When !this->isActive() or the implementation does not allow external updating. |
Implements RTT::base::ActivityInterface.
Definition at line 190 of file SequentialActivity.cpp.
void RTT::SequentialActivity::finalize | ( | ) |
Definition at line 98 of file SequentialActivity.cpp.
Referenced by stop().
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virtual |
Get the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
Definition at line 68 of file SequentialActivity.cpp.
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virtual |
Get the periodicity of this activity in Seconds.
Implements RTT::base::ActivityInterface.
Definition at line 57 of file SequentialActivity.cpp.
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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().
bool RTT::SequentialActivity::initialize | ( | ) |
Definition at line 83 of file SequentialActivity.cpp.
Referenced by start().
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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.
Implements RTT::base::ActivityInterface.
Definition at line 140 of file SequentialActivity.cpp.
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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().
Implements RTT::base::ActivityInterface.
Definition at line 135 of file SequentialActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 130 of file SequentialActivity.cpp.
void RTT::extras::SequentialActivity::loop | ( | ) |
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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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virtual |
Set the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
Definition at line 73 of file SequentialActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 62 of file SequentialActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 102 of file SequentialActivity.cpp.
References initialize(), RTT::base::RunnableInterface::initialize(), and RTT::base::ActivityInterface::runner.
void RTT::SequentialActivity::step | ( | ) |
Definition at line 88 of file SequentialActivity.cpp.
Referenced by trigger().
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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.
Implements RTT::base::ActivityInterface.
Definition at line 117 of file SequentialActivity.cpp.
References finalize(), RTT::base::RunnableInterface::finalize(), and RTT::base::ActivityInterface::runner.
Referenced by ~SequentialActivity().
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virtual |
Returns a pointer to the thread which will run this activity.
Will not be null.
Implements RTT::base::ActivityInterface.
Definition at line 78 of file SequentialActivity.cpp.
References RTT::os::MainThread::Instance().
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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 185 of file SequentialActivity.cpp.
References trigger().
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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.
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 145 of file SequentialActivity.cpp.
References RTT::base::RunnableInterface::hasWork(), RTT::os::MutexTryLock::isSuccessful(), RTT::base::ActivityInterface::runner, step(), RTT::base::RunnableInterface::step(), RTT::base::RunnableInterface::TimeOut, and RTT::base::RunnableInterface::work().
Referenced by timeout().
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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::extras::PeriodicActivity::finalize(), RTT::Activity::finalize(), RTT::base::ActivityInterface::getRunner(), RTT::Activity::initialize(), RTT::extras::PeriodicActivity::initialize(), RTT::Activity::loop(), RTT::base::ActivityInterface::run(), start(), RTT::extras::SlaveActivity::start(), RTT::Activity::step(), RTT::extras::PeriodicActivity::step(), RTT::extras::FileDescriptorActivity::step(), stop(), RTT::extras::SlaveActivity::stop(), trigger(), RTT::extras::FileDescriptorSimulationActivity::work(), RTT::extras::PeriodicActivity::work(), RTT::Activity::work(), RTT::extras::FileDescriptorActivity::work(), and RTT::base::ActivityInterface::~ActivityInterface().