Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
RTT::extras::FileDescriptorActivity Class Reference

#include <FileDescriptorActivity.hpp>

Inheritance diagram for RTT::extras::FileDescriptorActivity:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual bool breakLoop ()
void clearAllWatches ()
 FileDescriptorActivity (int priority, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 FileDescriptorActivity (int scheduler, int priority, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 FileDescriptorActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
 FileDescriptorActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")
virtual Seconds getPeriod () const
 Get the _intended_ period (not the actual running period)
int getTimeout () const
int getTimeout_us () const
bool hasError () const
bool hasTimeout () const
bool isRunning () const
bool isUpdated (int fd) const
bool isWatched (int fd) const
virtual void loop ()
virtual bool setPeriod (Seconds period)
 Set the _intended_ period (not the actual running period)
void setTimeout (int timeout)
void setTimeout_us (int timeout_us)
virtual bool start ()
virtual void step ()
virtual bool stop ()
virtual bool trigger ()
void unwatch (int fd)
void watch (int fd)
virtual ~FileDescriptorActivity ()

Private Member Functions

void triggerUpdateSets ()

Private Attributes

fd_set m_fd_set
fd_set m_fd_work
bool m_has_error
bool m_has_timeout
int m_interrupt_pipe [2]
RTT::os::Mutex m_lock
 intended period
Seconds m_period
 timeout in microseconds
bool m_running
int m_timeout_us
std::set< int > m_watched_fds

Static Private Attributes

static const char CMD_BREAK_LOOP = 0
static const char CMD_TRIGGER = 1
static const char CMD_UPDATE_SETS = 2

Detailed Description

An activity which is triggered by the availability of data on a set of file descriptors. step() (and hence the base::RunnableInterface's step() method) is called when data is available or when an error is encountered on the file descriptor.

To use it, one must add the file descriptors to watch in the task's configureHook()

FileDescriptorActivity* fd_activity = dynamic_cast<FileDescriptorActivity*>(getActivity().get()); if (fd_activity) { fd_activity->watch(device_fd); // optional, set a timeout in milliseconds fd_activity->setTimeout(1000); // or in microseconds fd_activity->setTimeout_us(1000); }

Then, updateHook() and -- when in ERROR state -- errorHook() will be called when one of these three events happen:

The different cases can be tested in updateHook() as follows:

FileDescriptorActivity* fd_activity = dynamic_cast<FileDescriptorActivity*>(getActivity().get()); if (fd_activity) { if (fd_activity->hasError()) { } else if (fd_activity->hasTimeout()) { } else { // If there is more than one FD, discriminate. Otherwise, // we don't need to use isUpdated if (fd_activity->isUpdated(device_fd)) { } else if (fd_activity->isUpdated(another_fd)) { } } }

Definition at line 103 of file FileDescriptorActivity.hpp.


Constructor & Destructor Documentation

FileDescriptorActivity::FileDescriptorActivity ( int  priority,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given priority and base::RunnableInterface instance. The default scheduler for NonPeriodicActivity objects is ORO_SCHED_RT.

Parameters:
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Create a FileDescriptorActivity with a given priority and RunnableInterface instance. The default scheduler for NonPeriodicActivity objects is ORO_SCHED_RT.

Parameters:
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.

Definition at line 79 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity ( int  scheduler,
int  priority,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given scheduler type, priority and base::RunnableInterface instance.

Parameters:
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Create a FileDescriptorActivity with a given scheduler type, priority and RunnableInterface instance.

Parameters:
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.

Definition at line 101 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity ( int  scheduler,
int  priority,
Seconds  period,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given scheduler type, priority, _intended_ period, and RunnableInterface instance.

Parameters:
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
periodThe _intended_ periodicity of the activity
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 114 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity ( int  scheduler,
int  priority,
Seconds  period,
unsigned  cpu_affinity,
base::RunnableInterface _r = 0,
const std::string &  name = "FileDescriptorActivity" 
)

Create a FileDescriptorActivity with a given scheduler type, priority, _intended_ period, CPU affinity, and RunnableInterface instance.

Parameters:
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
periodThe _intended_ periodicity of the activity
cpu_affinityThe prefered cpu to run on (a mask)
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 127 of file FileDescriptorActivity.cpp.

Definition at line 140 of file FileDescriptorActivity.cpp.


Member Function Documentation

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

Reimplemented from RTT::Activity.

Definition at line 357 of file FileDescriptorActivity.cpp.

Remove all FDs that are currently being watched

Definition at line 195 of file FileDescriptorActivity.cpp.

Get the _intended_ period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 145 of file FileDescriptorActivity.cpp.

Get the timeout, in milliseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).

Definition at line 158 of file FileDescriptorActivity.cpp.

Get the timeout, in microseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).

Definition at line 160 of file FileDescriptorActivity.cpp.

True if one of the file descriptors has a problem (for instance it has been closed)

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Definition at line 209 of file FileDescriptorActivity.cpp.

True if the base::RunnableInterface has been triggered because of a timeout, instead of because of new data is available.

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Definition at line 211 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::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

Reimplemented from RTT::Activity.

Definition at line 156 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isUpdated ( int  fd) const

True if this specific FD has new data.

This should only be used from within the base::RunnableInterface this activity is driving, i.e. in TaskContext::updateHook() or TaskContext::errorHook().

Definition at line 207 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isWatched ( int  fd) const

True if this specific FD is being watched by the activity

Definition at line 213 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::loop ( ) [virtual]
See also:
base::RunnableInterface::loop()

Reimplemented from RTT::Activity.

Definition at line 258 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::setPeriod ( Seconds  period) [virtual]

Set the _intended_ period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 148 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::setTimeout ( int  timeout)

Sets the timeout, in milliseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).

Precondition:
0 <= timeout (otherwise an error is logged and timeout is ignored)

Definition at line 162 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::setTimeout_us ( int  timeout_us)

Sets the timeout, in microseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).

Precondition:
0 <= timeout (otherwise an error is logged and timeout_us is ignored)

Definition at line 166 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::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

Reimplemented from RTT::Activity.

Definition at line 217 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::step ( ) [virtual]

Called by loop() when data is available on the file descriptor. By default, it calls step() on the associated runner interface (if any)

Reimplemented from RTT::Activity.

Definition at line 368 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::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

Reimplemented from RTT::Activity.

Definition at line 376 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::trigger ( ) [virtual]

Force calling step() even if no data is available on the file descriptor, and returns true if the signalling was successful

Reimplemented from RTT::Activity.

Definition at line 239 of file FileDescriptorActivity.cpp.

Internal method that makes sure loop() takes into account modifications in the set of watched FDs

Definition at line 201 of file FileDescriptorActivity.cpp.

Removes a file descriptor from the set of watched FDs

This method is thread-safe, i.e. it can be called from any thread

Definition at line 189 of file FileDescriptorActivity.cpp.

Sets the file descriptor the activity should be listening to.

  • close_on_stop { if true, the file descriptor will be closed by the activity when stop() is called. Otherwise, the file descriptor is left as-is.}

This method is thread-safe, i.e. it can be called from any thread

Parameters:
fdthe file descriptor
close_on_stopif true, the FD will be closed automatically when the activity is stopped

Definition at line 177 of file FileDescriptorActivity.cpp.


Member Data Documentation

const char FileDescriptorActivity::CMD_BREAK_LOOP = 0 [static, private]

Definition at line 117 of file FileDescriptorActivity.hpp.

const char FileDescriptorActivity::CMD_TRIGGER = 1 [static, private]

Definition at line 118 of file FileDescriptorActivity.hpp.

const char FileDescriptorActivity::CMD_UPDATE_SETS = 2 [static, private]

Definition at line 119 of file FileDescriptorActivity.hpp.

Definition at line 112 of file FileDescriptorActivity.hpp.

Definition at line 113 of file FileDescriptorActivity.hpp.

Definition at line 114 of file FileDescriptorActivity.hpp.

Definition at line 115 of file FileDescriptorActivity.hpp.

Definition at line 107 of file FileDescriptorActivity.hpp.

intended period

Lock that protects the access to m_fd_set and m_watched_fds

Definition at line 111 of file FileDescriptorActivity.hpp.

timeout in microseconds

Definition at line 109 of file FileDescriptorActivity.hpp.

Definition at line 106 of file FileDescriptorActivity.hpp.

Definition at line 108 of file FileDescriptorActivity.hpp.

Definition at line 105 of file FileDescriptorActivity.hpp.


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


rtt
Author(s): RTT Developers
autogenerated on Wed Aug 26 2015 16:16:24