#include <FileDescriptorActivity.hpp>
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 | |
bool | m_break_loop |
RTT::os::Mutex | m_command_mutex |
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 |
bool | m_trigger |
bool | m_update_sets |
std::set< int > | m_watched_fds |
Static Private Attributes | |
static const char | CMD_ANY_COMMAND = 0 |
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.
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.
priority | The priority of the underlying thread. |
_r | The optional runner, if none, this->loop() is called. |
name | The 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.
priority | The priority of the underlying thread. |
_r | The optional runner, if none, this->loop() is called. |
Definition at line 78 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.
scheduler | The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT. |
priority | The priority of the underlying thread. |
_r | The optional runner, if none, this->loop() is called. |
name | The name of the underlying thread. |
Create a FileDescriptorActivity with a given scheduler type, priority and RunnableInterface instance.
scheduler | The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT. |
priority | The priority of the underlying thread. |
_r | The optional runner, if none, this->loop() is called. |
Definition at line 103 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.
scheduler | The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT. |
priority | The priority of the underlying thread. |
period | The _intended_ periodicity of the activity |
_r | The optional runner, if none, this->loop() is called. |
name | The name of the underlying thread. |
Definition at line 119 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.
scheduler | The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT. |
priority | The priority of the underlying thread. |
period | The _intended_ periodicity of the activity |
cpu_affinity | The prefered cpu to run on (a mask) |
_r | The optional runner, if none, this->loop() is called. |
name | The name of the underlying thread. |
Definition at line 135 of file FileDescriptorActivity.cpp.
FileDescriptorActivity::~FileDescriptorActivity | ( | ) | [virtual] |
Definition at line 151 of file FileDescriptorActivity.cpp.
bool FileDescriptorActivity::breakLoop | ( | ) | [virtual] |
Reimplemented from RTT::Activity.
Definition at line 400 of file FileDescriptorActivity.cpp.
Remove all FDs that are currently being watched
Definition at line 206 of file FileDescriptorActivity.cpp.
Seconds FileDescriptorActivity::getPeriod | ( | ) | const [virtual] |
Get the _intended_ period (not the actual running period)
Reimplemented from RTT::Activity.
Definition at line 156 of file FileDescriptorActivity.cpp.
int FileDescriptorActivity::getTimeout | ( | ) | const |
Get the timeout, in milliseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).
Definition at line 169 of file FileDescriptorActivity.cpp.
int FileDescriptorActivity::getTimeout_us | ( | ) | const |
Get the timeout, in microseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).
Definition at line 171 of file FileDescriptorActivity.cpp.
bool FileDescriptorActivity::hasError | ( | ) | const |
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 222 of file FileDescriptorActivity.cpp.
bool FileDescriptorActivity::hasTimeout | ( | ) | const |
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 224 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.
Reimplemented from RTT::Activity.
Definition at line 167 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 220 of file FileDescriptorActivity.cpp.
bool FileDescriptorActivity::isWatched | ( | int | fd | ) | const |
True if this specific FD is being watched by the activity
Definition at line 226 of file FileDescriptorActivity.cpp.
void FileDescriptorActivity::loop | ( | ) | [virtual] |
Reimplemented from RTT::Activity.
Definition at line 297 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 159 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).
Definition at line 173 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).
Definition at line 177 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.
Reimplemented from RTT::Activity.
Definition at line 230 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 410 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.
Reimplemented from RTT::Activity.
Definition at line 418 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 273 of file FileDescriptorActivity.cpp.
void FileDescriptorActivity::triggerUpdateSets | ( | ) | [private] |
Internal method that makes sure loop() takes into account modifications in the set of watched FDs
Definition at line 212 of file FileDescriptorActivity.cpp.
void FileDescriptorActivity::unwatch | ( | int | fd | ) |
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 200 of file FileDescriptorActivity.cpp.
void FileDescriptorActivity::watch | ( | int | fd | ) |
Sets the file descriptor the activity should be listening to.
This method is thread-safe, i.e. it can be called from any thread
fd | the file descriptor |
close_on_stop | if true, the FD will be closed automatically when the activity is stopped |
Definition at line 188 of file FileDescriptorActivity.cpp.
const char FileDescriptorActivity::CMD_ANY_COMMAND = 0 [static, private] |
Definition at line 117 of file FileDescriptorActivity.hpp.
bool RTT::extras::FileDescriptorActivity::m_break_loop [private] |
Definition at line 119 of file FileDescriptorActivity.hpp.
Definition at line 118 of file FileDescriptorActivity.hpp.
fd_set RTT::extras::FileDescriptorActivity::m_fd_set [private] |
Definition at line 112 of file FileDescriptorActivity.hpp.
fd_set RTT::extras::FileDescriptorActivity::m_fd_work [private] |
Definition at line 113 of file FileDescriptorActivity.hpp.
bool RTT::extras::FileDescriptorActivity::m_has_error [private] |
Definition at line 114 of file FileDescriptorActivity.hpp.
bool RTT::extras::FileDescriptorActivity::m_has_timeout [private] |
Definition at line 115 of file FileDescriptorActivity.hpp.
int RTT::extras::FileDescriptorActivity::m_interrupt_pipe[2] [private] |
Definition at line 107 of file FileDescriptorActivity.hpp.
RTT::os::Mutex RTT::extras::FileDescriptorActivity::m_lock [mutable, private] |
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.
bool RTT::extras::FileDescriptorActivity::m_running [private] |
Definition at line 106 of file FileDescriptorActivity.hpp.
int RTT::extras::FileDescriptorActivity::m_timeout_us [private] |
Definition at line 108 of file FileDescriptorActivity.hpp.
bool RTT::extras::FileDescriptorActivity::m_trigger [private] |
Definition at line 120 of file FileDescriptorActivity.hpp.
bool RTT::extras::FileDescriptorActivity::m_update_sets [private] |
Definition at line 121 of file FileDescriptorActivity.hpp.
std::set<int> RTT::extras::FileDescriptorActivity::m_watched_fds [private] |
Definition at line 105 of file FileDescriptorActivity.hpp.