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. More...
#include <SlaveActivity.hpp>
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)
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.
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 install/include/rtt/extras/SlaveActivity.hpp.
| SlaveActivity::SlaveActivity | ( | base::ActivityInterface * | master, | |
| base::RunnableInterface * | run = 0 | |||
| ) |
Create an activity which is the slave of master.
| master | The activity which will execute this activity. | |
| run | Run this instance. |
Definition at line 46 of file SlaveActivity.cpp.
| 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.
| period | The periodicity at which you will trigger() this activity. | |
| run | Run this instance. |
Definition at line 51 of file SlaveActivity.cpp.
| 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.
| run | Run this instance. |
Definition at line 56 of file SlaveActivity.cpp.
| SlaveActivity::~SlaveActivity | ( | ) |
Cleanup and notify the base::RunnableInterface that we are gone.
Definition at line 61 of file SlaveActivity.cpp.
| RTT::extras::SlaveActivity::SlaveActivity | ( | base::ActivityInterface * | master, | |
| base::RunnableInterface * | run = 0 | |||
| ) |
Create an activity which is the slave of master.
| master | The activity which will execute this activity. | |
| run | Run this instance. |
| RTT::extras::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.
| period | The periodicity at which you will trigger() this activity. | |
| run | Run this instance. |
| RTT::extras::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.
| run | Run this instance. |
| RTT::extras::SlaveActivity::~SlaveActivity | ( | ) |
Cleanup and notify the base::RunnableInterface that we are gone.
| bool RTT::extras::SlaveActivity::breakLoop | ( | ) |
| bool SlaveActivity::breakLoop | ( | ) |
Definition at line 111 of file SlaveActivity.cpp.
| bool RTT::extras::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().
| 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.
| bool 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().
| 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 186 of file SlaveActivity.cpp.
| void RTT::extras::SlaveActivity::finalize | ( | ) |
| void SlaveActivity::finalize | ( | ) |
Definition at line 117 of file SlaveActivity.cpp.
| unsigned RTT::extras::SlaveActivity::getCpuAffinity | ( | ) | const [virtual] |
Get the cpu affinity of this activity
Implements RTT::base::ActivityInterface.
| unsigned SlaveActivity::getCpuAffinity | ( | ) | const [virtual] |
Get the cpu affinity of this activity
Implements RTT::base::ActivityInterface.
Definition at line 80 of file SlaveActivity.cpp.
| Seconds RTT::extras::SlaveActivity::getPeriod | ( | ) | const [virtual] |
Get the periodicity of this activity in Seconds
Implements RTT::base::ActivityInterface.
| Seconds SlaveActivity::getPeriod | ( | ) | const [virtual] |
Get the periodicity of this activity in Seconds
Implements RTT::base::ActivityInterface.
Definition at line 66 of file SlaveActivity.cpp.
| bool RTT::extras::SlaveActivity::initialize | ( | ) |
| bool SlaveActivity::initialize | ( | ) |
Definition at line 97 of file SlaveActivity.cpp.
| bool RTT::extras::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.
Implements RTT::base::ActivityInterface.
| bool 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.
Implements RTT::base::ActivityInterface.
Definition at line 174 of file SlaveActivity.cpp.
| bool RTT::extras::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().
Implements RTT::base::ActivityInterface.
| bool 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().
Implements RTT::base::ActivityInterface.
Definition at line 170 of file SlaveActivity.cpp.
| bool RTT::extras::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.
Implements RTT::base::ActivityInterface.
| bool 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.
Implements RTT::base::ActivityInterface.
Definition at line 165 of file SlaveActivity.cpp.
| void RTT::extras::SlaveActivity::loop | ( | ) |
| void SlaveActivity::loop | ( | ) |
Definition at line 106 of file SlaveActivity.cpp.
| bool RTT::extras::SlaveActivity::setCpuAffinity | ( | unsigned | cpu | ) | [virtual] |
Set the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
| bool SlaveActivity::setCpuAffinity | ( | unsigned | cpu | ) | [virtual] |
Set the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
Definition at line 87 of file SlaveActivity.cpp.
| bool RTT::extras::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.
Implements RTT::base::ActivityInterface.
| bool 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.
Implements RTT::base::ActivityInterface.
Definition at line 73 of file SlaveActivity.cpp.
| bool RTT::extras::SlaveActivity::start | ( | ) | [virtual] |
Start this slave. Only allowed if the master activity is already running.
| false | if !master->isRunning() || this->isRunning() || initialize() returns false | |
| true | othwerise. |
Implements RTT::base::ActivityInterface.
| bool SlaveActivity::start | ( | ) | [virtual] |
Start this slave. Only allowed if the master activity is already running.
| false | if !master->isRunning() || this->isRunning() || initialize() returns false | |
| true | othwerise. |
Implements RTT::base::ActivityInterface.
Definition at line 121 of file SlaveActivity.cpp.
| void RTT::extras::SlaveActivity::step | ( | ) |
| void SlaveActivity::step | ( | ) |
Definition at line 102 of file SlaveActivity.cpp.
| bool RTT::extras::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.
Implements RTT::base::ActivityInterface.
| bool 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.
Implements RTT::base::ActivityInterface.
Definition at line 145 of file SlaveActivity.cpp.
| os::ThreadInterface* RTT::extras::SlaveActivity::thread | ( | ) | [virtual] |
Returns a pointer to the thread which will run this activity. Will not be null.
Implements RTT::base::ActivityInterface.
| os::ThreadInterface * 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.
| bool RTT::extras::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.
| 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.
| bool 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.
| 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 179 of file SlaveActivity.cpp.
bool SlaveActivity::active [private] |
Definition at line 159 of file install/include/rtt/extras/SlaveActivity.hpp.
base::ActivityInterface * SlaveActivity::mmaster [private] |
Definition at line 156 of file install/include/rtt/extras/SlaveActivity.hpp.
double SlaveActivity::mperiod [private] |
Definition at line 157 of file install/include/rtt/extras/SlaveActivity.hpp.
bool SlaveActivity::running [private] |
Definition at line 158 of file install/include/rtt/extras/SlaveActivity.hpp.
