A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints. More...

#include <PeriodicActivity.hpp>

Inheritance diagram for RTT::extras::PeriodicActivity:

Public Member Functions
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
	PeriodicActivity (int priority, Seconds period, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given priority and period. The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.
	PeriodicActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period.
	PeriodicActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period.
	PeriodicActivity (TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity executing in a given thread.
	PeriodicActivity (Seconds period, TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread.
	PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread.
virtual bool	setCpuAffinity (unsigned cpu)
virtual bool	setPeriod (Seconds s)
virtual bool	start ()
virtual void	step ()
virtual bool	stop ()
virtual os::ThreadInterface *	thread ()
virtual bool	trigger ()
virtual	~PeriodicActivity ()
Protected Member Functions
void	init ()
Protected Attributes
bool	active
bool	running
TimerThreadPtr	thread_

Detailed Description

A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints.

A PeriodicActivity is executed in a TimerThread. Multiple PeriodicActivities having the same priority and periodicity will be executed in the same TimerThread one after the other.

It will execute a base::RunnableInterface, or the equivalent methods in it's own interface when none is given. When initialize() returns false, it will abort start(). If the PeriodicActivity is stop()'ed, finalize() is called in the calling thread of stop().

Definition at line 70 of file PeriodicActivity.hpp.

Constructor & Destructor Documentation

PeriodicActivity::PeriodicActivity	(	int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given priority and period. The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.

Parameters:

priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 52 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`
	)

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

Parameters:

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 59 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		unsigned	cpu_affinity,
		base::RunnableInterface *	r = `0`
	)

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

Parameters:

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
cpu_affinity	The prefered cpu to run on (a mask)
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 66 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity executing in a given thread.

Parameters:

thread	The thread this Activity will be run in. Both period and priority of this activity will be the same as thread.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 73 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	Seconds	period,
		TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters:

period	The periodicity of the PeriodicActivity
thread	The thread this Activity will be run in. The given period must be a multiple of the thread's period.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 80 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	secs	sec,
		nsecs	nsec,
		TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters:

sec	The periodicity of the PeriodicActivity, seconds partition
nsec	The periodicity of the PeriodicActivity, nanoseconds partition
thread	The thread this Activity will be run in. The given period (sec, nsec) must be a multiple of the thread's period.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 87 of file PeriodicActivity.cpp.

PeriodicActivity::~PeriodicActivity ( ) [virtual]

Stops and terminates a PeriodicActivity

Definition at line 95 of file PeriodicActivity.cpp.

Member Function Documentation

bool PeriodicActivity::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.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 185 of file PeriodicActivity.cpp.

void PeriodicActivity::finalize ( ) [virtual]

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

Definition at line 202 of file PeriodicActivity.cpp.

unsigned PeriodicActivity::getCpuAffinity ( ) const [virtual]

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.

Seconds PeriodicActivity::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 159 of file PeriodicActivity.cpp.

void PeriodicActivity::init ( ) [protected]

Definition at line 100 of file PeriodicActivity.cpp.

bool PeriodicActivity::initialize ( ) [virtual]

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

Definition at line 178 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 154 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 209 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 149 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 173 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 164 of file PeriodicActivity.cpp.

bool PeriodicActivity::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::SimulationActivity.

Definition at line 103 of file PeriodicActivity.cpp.

void PeriodicActivity::step ( ) [virtual]

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

Definition at line 195 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 134 of file PeriodicActivity.cpp.

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

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

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 207 of file PeriodicActivity.cpp.

bool PeriodicActivity::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.

Definition at line 190 of file PeriodicActivity.cpp.