CallFunction.hpp
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1 /***************************************************************************
2  tag: The SourceWorks Tue Sep 7 00:55:18 CEST 2010 CallFunction.hpp
3 
4  CallFunction.hpp - description
5  -------------------
6  begin : Tue September 07 2010
7  copyright : (C) 2010 The SourceWorks
8  email : peter@thesourceworks.com
9 
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37 
38 
39 #ifndef ORO_CALL_FUNCTION_HPP
40 #define ORO_CALL_FUNCTION_HPP
41 
42 #include "../base/ActionInterface.hpp"
43 #include "../base/DisposableInterface.hpp"
44 #include "../internal/DataSources.hpp"
45 #include "ProgramInterface.hpp"
46 #include "../internal/DataSource.hpp"
47 #include "../ExecutionEngine.hpp"
48 #include "../Logger.hpp"
49 #include <boost/shared_ptr.hpp>
50 #include <boost/bind.hpp>
51 
52 namespace RTT
53 { namespace scripting {
54  using namespace detail;
55 
61  class RTT_SCRIPTING_API CallFunction
63  {
67  boost::shared_ptr<ProgramInterface> _foo;
68  bool maccept;
69 
76  return (!maccept || _foo->inError() || _foo->isStopped());
77  }
78 
84  bool checkIfDone() {
85  if ( _foo->inError() ) {
86  throw false;
87  } else if ( _foo->isStopped() ) {
88  return true;
89  } else {
90  return false;
91  }
92  }
93 
94  public:
103  boost::shared_ptr<ProgramInterface> foo,
104  ExecutionEngine* p, ExecutionEngine* caller
105  )
106  : minit(init_com),
107  mrunner(p), mcaller(caller),
108  _foo( foo ), maccept(false)
109  {
110  }
111 
113  this->reset();
114  delete minit;
115  }
116 
131  virtual bool execute() {
132  // prepare execution
133  if (!minit->execute()) return false;
134  _foo->loaded(mrunner);
135  // we ignore the ret value of start(). It could have been auto-started during loading() of the function.
136  if ( _foo->needsStart() )
137  _foo->start();
138 
139  if ( mrunner->isSelf() ) { // The calling thread is the same as the executor (synchronous function call).
140 
141  // 1. Inline the function (execute it immediately). Other than the
142  // following step 2, this does not give other operations the
143  // chance to execute.
144  //
145  // @sa analogous to OperationCallerInterface::isSend()
146  //
147  maccept = true;
148  this->executeAndDispose();
149  if ( checkIfDone() ) return true;
150  log(Warning) << "Execution of function '" << _foo->getName() << " did not finish in one cycle "
151  "and paused in line " << _foo->getLineNumber() << ", e.g. because of a yield statement." << nlog()
152  << "As it was called from the executing thread, execution will continue immediately to avoid a dead-lock." << nlog()
153  << "This behavior might be unexpected and can cause busy-wait loops." << endlog();
154 
155  // 2. While not done, enqueue as a message callback (for the callback step)
156  // ==> mrunner will call executeAndDispose() (see below)
157  //
158  // If the caller thread is the same as the executor and the
159  // funtion yields, loop and enqueue it again. So yielding in
160  // a function called from the same thread only gives other
161  // enqueued messages (operations) a chance to execute, but
162  // afterwards the function continues within the same update
163  // step and without a call to updateHook() in between.
164  //
165  do {
166  maccept = mrunner->process( this );
167  if ( !maccept ) return false;
168 
169  // block for the result: foo stopped or in error or yielded
170  mrunner->waitForMessages(boost::bind(&CallFunction::checkIfDoneOrYielded, this) );
171  } while( !checkIfDone() );
172 
173  return true;
174 
175  } else { // The caller thread is different from the executor (asynchronous function call).
176 
177  // 1. Enqueue as a message callback (for the callback step)
178  // ==> mrunner will call executeAndDispose() (see below)
179  //
180  maccept = mrunner->process( this );
181  if ( !maccept ) return false;
182 
183  // block for the result: foo stopped or in error or yielded
184  mrunner->waitForMessages(boost::bind(&CallFunction::checkIfDoneOrYielded, this) );
185  if ( checkIfDone() ) return true;
186 
187  // 2. If not yet done, enqueue as a function and wait for the next update step
188  // ==> mrunner will run _foo until it finishs
189  //
190  // Note: There is no guarantee that the function will not already execute again in the same cycle,
191  // once as a message and once as function. Not really a problem...
192  //
193  maccept = mrunner->runFunction( _foo.get() );
194  if ( !maccept ) return false;
195 
196  // block for the result: foo stopped or in error
197  mrunner->waitForMessages(boost::bind(&CallFunction::checkIfDone, this) );
198  if ( checkIfDone() ) return true;
199 
200  return false;
201  }
202  }
203 
214  virtual void executeAndDispose() {
215  if ( _foo->execute() == false ) {
216  _foo->unloaded();
217  } else {
218  // need to execute again
219  maccept = false;
220  }
221  // ExecutionEngine will eventually wake up the caller waiting in mrunner->waitForMessages().
222  }
223 
224  // we do not want to be disposed
225  virtual void dispose() {}
226 
227  virtual void reset() {
228  maccept = false;
229  }
230 
231  virtual bool valid() const {
232  return maccept;
233  }
234 
235  virtual void readArguments() {
236  // is called before runFunction is executed.
237  minit->readArguments();
238  }
239 
241  {
242  return new CallFunction( minit->clone(), _foo, mrunner, mcaller);
243  }
244 
245  base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
246  {
247  boost::shared_ptr<ProgramInterface> fcpy( _foo->copy(alreadyCloned) );
248  return new CallFunction( minit->copy(alreadyCloned), fcpy , mrunner, mcaller );
249  }
250 
251  };
252 
253 }}
254 
255 #endif
static Logger::LogFunction nlog()
Definition: Logger.hpp:375
base::ActionInterface * clone() const
void waitForMessages(const boost::function< bool(void)> &pred)
virtual void readArguments()=0
CallFunction(base::ActionInterface *init_com, boost::shared_ptr< ProgramInterface > foo, ExecutionEngine *p, ExecutionEngine *caller)
virtual bool valid() const
virtual ActionInterface * clone() const =0
virtual bool execute()=0
Based on the software pattern &#39;command&#39;, this interface allows execution of action objects...
base::ActionInterface * copy(std::map< const base::DataSourceBase *, base::DataSourceBase * > &alreadyCloned) const
An object that is executable and is freed after execution.
base::ActionInterface * minit
boost::shared_ptr< ProgramInterface > _foo
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:53
virtual bool process(base::DisposableInterface *c)
virtual bool runFunction(base::ExecutableInterface *f)
static Logger & log()
Definition: Logger.hpp:350
static Logger::LogFunction endlog()
Definition: Logger.hpp:362
void foo(double d)
virtual ActionInterface * copy(std::map< const DataSourceBase *, DataSourceBase * > &alreadyCloned) const


rtt
Author(s): RTT Developers
autogenerated on Fri Oct 25 2019 03:59:30