RTT::Activity Class Reference
[Activity (thread) classes.]

An Activity is an object that represents a thread. More...

#include <Activity.hpp>

Inheritance diagram for RTT::Activity:

Public Member Functions
	Activity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0, const std::string &name="Activity")
	Create an Activity with a given scheduler type, priority, period and cpu affinity.
	Activity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")
	Create an Activity with a given scheduler type, priority and period.
	Activity (int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")
	Create a real-time Activity with a given priority and period. The thread is run in the ORO_SCHED_RT scheduler.
	Activity (int priority, base::RunnableInterface *r=0, const std::string &name="Activity")
	Create a real-time Activity with a given priority. The thread is run in the ORO_SCHED_RT scheduler.
	Activity (base::RunnableInterface *r=0, const std::string &name="Activity")
	Create a not real-time Activity. This creates a not real-time, non-periodic thread, with priority equal to RTT::os::LowestPriority.
virtual bool	breakLoop ()
virtual bool	execute ()
virtual void	finalize ()
virtual unsigned	getCpuAffinity () const
virtual Seconds	getPeriod () const
virtual bool	initialize ()
virtual bool	isActive () const
virtual bool	isPeriodic () const
virtual bool	isRunning () const
virtual void	loop ()
virtual bool	setCpuAffinity (unsigned cpu)
virtual bool	setPeriod (Seconds period)
virtual bool	start ()
virtual void	step ()
virtual bool	stop ()
virtual os::ThreadInterface *	thread ()
virtual bool	trigger ()
virtual	~Activity ()

Detailed Description

An Activity is an object that represents a thread.

This object implements the base::ActivityInterface and maps that to an OS thread, using the RTT::os::Thread class. One Activity object maps to one OS thread. It can execute periodically the step() function or the loop() function in case of non-periodic execution.

When provided one, it will execute a base::RunnableInterface object, or the equivalent methods in it's own interface when none is given.

Definition at line 63 of file Activity.hpp.

Constructor & Destructor Documentation

Activity::Activity	(	base::RunnableInterface *	r = `0`,
		const std::string &	name = `"Activity"`
	)

Create a not real-time Activity. This creates a not real-time, non-periodic thread, with priority equal to RTT::os::LowestPriority.

Parameters:

	_r	The optional runner, if null, this->loop() is called.
	name	The name of the underlying thread.

Definition at line 51 of file Activity.cpp.

Activity::Activity	(	int	priority,
		base::RunnableInterface *	r = `0`,
		const std::string &	name = `"Activity"`
	)

Create a real-time Activity with a given priority. The thread is run in the ORO_SCHED_RT scheduler.

Parameters:

	priority	The priority of this activity.
	r	The optional base::RunnableInterface to run exclusively within this Activity
	name	The name of the underlying thread.

Definition at line 56 of file Activity.cpp.

Activity::Activity	(	int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`,
		const std::string &	name = `"Activity"`
	)

Create a real-time Activity with a given priority and period. The thread is run in the ORO_SCHED_RT scheduler.

Parameters:

	priority	The priority of this activity.
	period	The periodicity of the Activity. A zero is interpreted as non periodic.
	r	The optional base::RunnableInterface to run exclusively within this Activity
	name	The name of the underlying thread.

Definition at line 61 of file Activity.cpp.

Activity::Activity	(	int	scheduler,
		int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`,
		const std::string &	name = `"Activity"`
	)

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

Parameters:

	scheduler	The scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
	priority	The priority of this activity.
	period	The periodicity of the Activity
	r	The optional base::RunnableInterface to run exclusively within this Activity
	name	The name of the underlying thread.

Definition at line 66 of file Activity.cpp.

Activity::Activity	(	int	scheduler,
		int	priority,
		Seconds	period,
		unsigned	cpu_affinity,
		base::RunnableInterface *	r = `0`,
		const std::string &	name = `"Activity"`
	)

Create an Activity with a given scheduler type, priority, period and cpu affinity.

Parameters:

	scheduler	The scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
	priority	The priority of this activity.
	period	The periodicity of the Activity
	cpu_affinity	The prefered cpu to run on (a mask)
	r	The optional base::RunnableInterface to run exclusively within this Activity
	name	The name of the underlying thread.

Definition at line 71 of file Activity.cpp.

Activity::~Activity ( ) [virtual]

Stops and terminates a Activity

Definition at line 76 of file Activity.cpp.

Member Function Documentation

bool Activity::breakLoop ( ) [virtual]

See also:: base::RunnableInterface::breakLoop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::FileDescriptorActivity, RTT::corba::CorbaDispatcher, RTT::corba::OrbRunner, and RTT::mqueue::Dispatcher.

Definition at line 103 of file Activity.cpp.

bool Activity::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 127 of file Activity.cpp.

void Activity::finalize ( ) [virtual]

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner.

Definition at line 109 of file Activity.cpp.

unsigned Activity::getCpuAffinity ( ) const [virtual]

Get the cpu affinity of this activity

Returns:: The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 154 of file Activity.cpp.

Seconds Activity::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 139 of file Activity.cpp.

bool Activity::initialize ( ) [virtual]

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 85 of file Activity.cpp.

bool Activity::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 135 of file Activity.cpp.

bool Activity::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 150 of file Activity.cpp.

bool Activity::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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 131 of file Activity.cpp.

void Activity::loop ( ) [virtual]

See also:: base::RunnableInterface::loop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::FileDescriptorActivity, RTT::corba::CorbaDispatcher, RTT::corba::OrbRunner, and RTT::mqueue::Dispatcher.

Definition at line 96 of file Activity.cpp.

bool Activity::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 159 of file Activity.cpp.

bool Activity::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 144 of file Activity.cpp.

bool Activity::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::FileDescriptorActivity, and RTT::extras::IRQActivity.

Definition at line 115 of file Activity.cpp.

void Activity::step ( ) [virtual]

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

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 91 of file Activity.cpp.

bool Activity::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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 119 of file Activity.cpp.

os::ThreadInterface * Activity::thread ( ) [virtual]

Returns a pointer to the thread which will run this activity. Will not be null.

Implements RTT::base::ActivityInterface.

Definition at line 81 of file Activity.cpp.

bool Activity::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.

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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 123 of file Activity.cpp.

The documentation for this class was generated from the following files:

RTT::Activity Class Reference [Activity (thread) classes.]

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

RTT::Activity Class Reference
[Activity (thread) classes.]