An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()', which is called by another Activity ('master'). More...

#include <rtt/extras/SlaveActivity.hpp>

Inheritance diagram for RTT::extras::SlaveActivity:

Public Types
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Public Member Functions
	SlaveActivity (base::ActivityInterface master, base::RunnableInterface run=0)
	Create an activity which is the slave of master. More...

	SlaveActivity (double period, base::RunnableInterface *run=0)
	Create an activity which is periodic. More...

	SlaveActivity (base::RunnableInterface *run=0)
	Create an activity for which trigger() will not be periodically called. More...

	~SlaveActivity ()
	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...

base::ActivityInterface *	getMaster () const

virtual bool	initialize ()

virtual void	step ()

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

virtual void	loop ()

virtual bool	breakLoop ()

virtual void	finalize ()

bool	start ()
	Start this slave. 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

Detailed Description

An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()', which is called by another Activity ('master').

The SlaveActivity can only be started if the master is active or if no master is present. If a master is used, this activity takes periodicity over from the master. If no master is present, use one of the alternative constructors to make a periodic slave or a non periodic slave.

Any activity object can be a master of a SlaveActivity, including itself. A master needs to keep track of its slave itself. There is no standard mechanism in RTT in which masters execute slaves. You need to code this yourself in your master activity by calling execute() on each Slave.

The only thing a slave does/can do is

be started and stopped independently.
notifying its master that it was triggered (if present)
copying the periodic/thread properties of its master (if present)

Reactions to execute():

In the non periodic case, base::RunnableInterface::loop() is called, in the periodic case, base::RunnableInterface::step() is called. In case the base::RunnableInterface did not implement loop(), step() is invoked by default. If no base::RunnableInterface is given, said functions are called upon SlaveActivity itself.

Reactions to trigger():

trigger() is ignored and returns false when no master is present.

When there is a master: In the non periodic case, trigger() is called upon the master (causing it to execute), in the periodic case, it is ignored (you can not trigger periodic activities).

Definition at line 90 of file SlaveActivity.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::SlaveActivity::SlaveActivity	(	base::ActivityInterface *	master,
		base::RunnableInterface *	run = `0`
	)

Create an activity which is the slave of master.

Parameters

master	The activity which will execute this activity.
run	Run this instance.

Definition at line 46 of file SlaveActivity.cpp.

RTT::SlaveActivity::SlaveActivity	(	double	period,
		base::RunnableInterface *	run = `0`
	)

Create an activity which is periodic.

If period == 0.0, this constructor is equivalent to the one below for non periodic activities.

Parameters

period	The periodicity at which you will trigger() this activity.
run	Run this instance.

Definition at line 51 of file SlaveActivity.cpp.

RTT::SlaveActivity::SlaveActivity ( base::RunnableInterface * run = 0 )

Create an activity for which trigger() will not be periodically called.

The period of this activity will be 0.0.

Parameters

run	Run this instance.

Definition at line 56 of file SlaveActivity.cpp.

RTT::SlaveActivity::~SlaveActivity ( )

Cleanup and notify the base::RunnableInterface that we are gone.

Definition at line 61 of file SlaveActivity.cpp.

References stop().

Member Function Documentation

bool RTT::SlaveActivity::breakLoop ( )

virtual

Definition at line 120 of file SlaveActivity.cpp.

Referenced by stop().

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::SlaveActivity::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.

Definition at line 202 of file SlaveActivity.cpp.

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

void RTT::SlaveActivity::finalize ( )

virtual

Definition at line 126 of file SlaveActivity.cpp.

Referenced by stop().

unsigned RTT::SlaveActivity::getCpuAffinity ( ) const

virtual

Get the cpu affinity of this activity.

Returns: The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 80 of file SlaveActivity.cpp.

References RTT::base::ActivityInterface::getCpuAffinity().

base::ActivityInterface * RTT::SlaveActivity::getMaster ( ) const

Definition at line 97 of file SlaveActivity.cpp.

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

Seconds RTT::SlaveActivity::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 66 of file SlaveActivity.cpp.

References RTT::base::ActivityInterface::getPeriod().

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().

bool RTT::SlaveActivity::initialize ( )

virtual

Definition at line 102 of file SlaveActivity.cpp.

Referenced by start().

bool RTT::SlaveActivity::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 183 of file SlaveActivity.cpp.

bool RTT::SlaveActivity::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 179 of file SlaveActivity.cpp.

Referenced by start(), and stop().

bool RTT::SlaveActivity::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 174 of file SlaveActivity.cpp.

void RTT::SlaveActivity::loop ( )

virtual

Definition at line 115 of file SlaveActivity.cpp.

References step().

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::SlaveActivity::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 87 of file SlaveActivity.cpp.

bool RTT::SlaveActivity::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 73 of file SlaveActivity.cpp.

bool RTT::SlaveActivity::start ( )

virtual

Start this slave.

Only allowed if the master activity is already running.

Return values

false	if !master->isRunning() \|\| this->isRunning() \|\| initialize() returns false
true	othwerise.

Implements RTT::base::ActivityInterface.

Definition at line 130 of file SlaveActivity.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, RTT::base::RunnableInterface::initialize(), initialize(), RTT::base::ActivityInterface::isActive(), isPeriodic(), RTT::Logger::log(), and RTT::base::ActivityInterface::runner.

void RTT::SlaveActivity::step ( )

virtual

Definition at line 107 of file SlaveActivity.cpp.

Referenced by execute(), and loop().

bool RTT::SlaveActivity::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 154 of file SlaveActivity.cpp.

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

Referenced by ~SlaveActivity().

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

virtual

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

Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 92 of file SlaveActivity.cpp.

References RTT::os::MainThread::Instance(), and RTT::base::ActivityInterface::thread().

bool RTT::SlaveActivity::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 195 of file SlaveActivity.cpp.

References RTT::base::ActivityInterface::timeout().

bool RTT::SlaveActivity::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 188 of file SlaveActivity.cpp.

References RTT::base::ActivityInterface::trigger().

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

virtual

Definition at line 111 of file SlaveActivity.cpp.

Referenced by execute().