A SimulationActivity is a PeriodicActivity which is used for simulation. More...

#include <rtt/extras/SimulationActivity.hpp>

Inheritance diagram for RTT::extras::SimulationActivity:

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	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 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 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'.

Note: The period is fixed by the SimulationThread, which runs all SimulationActivities at the same period.

Definition at line 59 of file SimulationActivity.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::SimulationActivity::SimulationActivity	(	Seconds	period,
		base::RunnableInterface *	r = `0`
	)

Construct a SimulationActivity with a periodicity period Seconds.

Note: period is ignored.

Definition at line 46 of file SimulationActivity.cpp.

RTT::SimulationActivity::SimulationActivity	(	secs	s,
		nsecs	ns,
		base::RunnableInterface *	r = `0`
	)

Construct a SimulationActivity with a periodicity of s seconds and ns nanoseconds.

Note: s and ns are ignored.

Definition at line 51 of file SimulationActivity.cpp.

RTT::SimulationActivity::~SimulationActivity ( )

virtual

Destroys this instance.

The Activity is stopped.

Definition at line 56 of file SimulationActivity.cpp.

References RTT::extras::PeriodicActivity::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::SimulationActivity::execute ( )

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(), RTT::extras::PeriodicActivity::step(), RTT::base::RunnableInterface::TimeOut, and RTT::extras::PeriodicActivity::work().

void RTT::PeriodicActivity::finalize ( )

virtualinherited

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 start(), RTT::extras::PeriodicActivity::start(), and RTT::extras::PeriodicActivity::stop().

unsigned RTT::PeriodicActivity::getCpuAffinity ( ) const

virtualinherited

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 RTT::extras::PeriodicActivity::thread_.

Seconds RTT::PeriodicActivity::getPeriod ( ) const

virtualinherited

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 RTT::extras::PeriodicActivity::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 ( )

protectedinherited

Definition at line 100 of file PeriodicActivity.cpp.

Referenced by RTT::extras::PeriodicActivity::PeriodicActivity().

bool RTT::PeriodicActivity::initialize ( )

virtualinherited

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 start(), and RTT::extras::PeriodicActivity::start().

bool RTT::PeriodicActivity::isActive ( ) const

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.

Returns: true if it is active, false otherwise

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().

bool RTT::PeriodicActivity::isPeriodic ( ) const

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().

Returns: true if periodic.

Implements RTT::base::ActivityInterface.

Definition at line 221 of file PeriodicActivity.cpp.

bool RTT::PeriodicActivity::isRunning ( ) const

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.

Returns: true if it is running, false otherwise

Implements RTT::base::ActivityInterface.

Definition at line 149 of file PeriodicActivity.cpp.

References RTT::extras::PeriodicActivity::running.

Referenced by 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 )

virtualinherited

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 RTT::extras::PeriodicActivity::thread_.

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

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.

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

Implements RTT::base::ActivityInterface.

Definition at line 164 of file PeriodicActivity.cpp.

bool RTT::SimulationActivity::start ( )

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 77 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_.

void RTT::PeriodicActivity::step ( )

virtualinherited

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 execute().

bool RTT::PeriodicActivity::stop ( )

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.

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 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().

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

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().

bool RTT::PeriodicActivity::timeout ( )

virtualinherited

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 ( )

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.

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 )

virtualinherited