Public Member Functions
RTT::Activity Class Reference

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

#include <Activity.hpp>

Inheritance diagram for RTT::Activity:
Inheritance graph
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List of all members.

Public Member Functions

 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.
 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 (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 scheduler, int priority, base::RunnableInterface *r=0, const std::string &name="Activity")
 Create an Activity with a given scheduler type and priority.
 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 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.
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::ThreadInterfacethread ()
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:
_rThe optional runner, if null, this->loop() is called.
nameThe name of the underlying thread.

Definition at line 55 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:
priorityThe priority of this activity.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 60 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:
priorityThe priority of this activity.
periodThe periodicity of the Activity. A zero is interpreted as non periodic.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 65 of file Activity.cpp.

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

Create an Activity with a given scheduler type and priority.

Parameters:
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 70 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:
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
periodThe periodicity of the Activity
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 75 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:
schedulerThe scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of this activity.
periodThe periodicity of the Activity
cpu_affinityThe prefered cpu to run on (a mask)
rThe optional base::RunnableInterface to run exclusively within this Activity
nameThe name of the underlying thread.

Definition at line 80 of file Activity.cpp.

Activity::~Activity ( ) [virtual]

Stops and terminates a Activity

Definition at line 85 of file Activity.cpp.


Member Function Documentation

bool Activity::breakLoop ( ) [virtual]
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:
trueWhen this->isActive() and the implementation allows external executes.
falseWhen !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 136 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 118 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 163 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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 148 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 94 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 144 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 159 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 140 of file Activity.cpp.

void Activity::loop ( ) [virtual]
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 168 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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 153 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 124 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 100 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 128 of file Activity.cpp.

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

Implements RTT::base::ActivityInterface.

Definition at line 90 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:
trueWhen this->isActive() and the implementation allows external triggers.
falseWhen !this->isActive() or the implementation does not allow external triggering.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 132 of file Activity.cpp.


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


rtt
Author(s): RTT Developers
autogenerated on Sat Jun 8 2019 18:46:36