An Activity executes a RunnableInterface object in a (periodic) thread. More...

#include <Activity.hpp>

Inheritance diagram for RTT::Activity:

[legend]

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. More...

	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. More...

	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. More...

	Activity (int scheduler, int priority, base::RunnableInterface *r=0, const std::string &name="Activity")
	Create an Activity with a given scheduler type and priority. More...

	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. More...

	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. More...

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)

void	setWaitPeriodPolicy (int p)

virtual bool	start ()

virtual void	step ()

virtual bool	stop ()

virtual os::ThreadInterface *	thread ()

virtual bool	timeout ()

virtual bool	trigger ()

virtual void	work (base::RunnableInterface::WorkReason reason)

virtual	~Activity ()

Public Member Functions inherited from RTT::base::ActivityInterface
	ActivityInterface ()

	ActivityInterface (RunnableInterface *run)

virtual RunnableInterface *	getRunner () const

virtual bool	run (RunnableInterface *r)

virtual	~ActivityInterface ()

Public Member Functions inherited from RTT::os::Thread
virtual int	getMaxOverrun () const

virtual const char *	getName () const

void	getPeriod (secs &s, nsecs &ns) const

virtual nsecs	getPeriodNS () const

virtual unsigned int	getPid () const

virtual int	getPriority () const

virtual int	getScheduler () const

Seconds	getStopTimeout () const

virtual RTOS_TASK *	getTask ()

virtual const RTOS_TASK *	getTask () const

virtual void	setMaxOverrun (int m)

bool	setPeriod (Seconds s)

bool	setPeriod (secs s, nsecs ns)

bool	setPeriod (TIME_SPEC p)

virtual bool	setPriority (int priority)

virtual bool	setScheduler (int sched_type)

void	setStopTimeout (Seconds s)

	Thread (int scheduler, int priority, double period, unsigned cpu_affinity, const std::string &name)

virtual void	yield ()

virtual	~Thread ()

Public Member Functions inherited from RTT::os::ThreadInterface
bool	isSelf () const

	ThreadInterface ()

unsigned int	threadNumber () const

virtual	~ThreadInterface ()

Protected Attributes
os::Condition	msg_cond

os::Mutex	msg_lock

bool	mstopRequested

bool	mtimeout

int	mwaitpolicy

double	update_period

Protected Attributes inherited from RTT::base::ActivityInterface
RunnableInterface *	runner

Protected Attributes inherited from RTT::os::Thread
bool	active

MutexRecursive	breaker

bool	inloop

int	maxOverRun

int	msched_type

NANO_TIME	period

bool	prepareForExit

RTOS_TASK	rtos_task

bool	running

rt_sem_t	sem

double	stopTimeout

Protected Attributes inherited from RTT::os::ThreadInterface
int	threadnb

Additional Inherited Members
Public Types inherited from RTT::base::ActivityInterface
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Static Public Member Functions inherited from RTT::os::Thread
static void	setLockTimeoutNoPeriod (double timeout_in_s)

static void	setLockTimeoutPeriodFactor (double factor)

static void	setStackSize (unsigned int ssize)

Protected Member Functions inherited from RTT::base::ActivityInterface
void	disableRun (RunnableInterface *caller)

Protected Member Functions inherited from RTT::os::Thread
void	emergencyStop ()

void	terminate ()

Static Protected Attributes inherited from RTT::os::Thread
static unsigned int	default_stack_size = 0

static double	lock_timeout_no_period_in_s = 1.0

static double	lock_timeout_period_factor = 10.0

Detailed Description

An Activity executes a RunnableInterface object in a (periodic) 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.

For a periodic Activity, when it misses its deadline because user code take too long to execute, it will skip the required number of periodic execution steps in order to be back on time. This is the ORO_WAIT_REL wait policy and can be changed by calling setWaitPeriodPolicy(ORO_WAIT_ABS)

Definition at line 70 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

_r	The optional runner, if null, this->loop() is called.
name	The name of the underlying thread.

Definition at line 57 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

priority	The priority of this activity.
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The name of the underlying thread.

Definition at line 63 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

priority	The priority of this activity.
period	The periodicity of the Activity. A zero is interpreted as non periodic.
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The name of the underlying thread.

Definition at line 69 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

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

Definition at line 79 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

scheduler	The scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity.
period	The periodicity of the Activity
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The name of the underlying thread.

Definition at line 85 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

scheduler	The scheduler in which the activity's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity.
period	The periodicity of the Activity
cpu_affinity	The prefered cpu to run on (a mask)
r	The optional base::RunnableInterface to run exclusively within this Activity
name	The name of the underlying thread.

Definition at line 95 of file Activity.cpp.

Activity::~Activity ( )

virtual

Stops and terminates a Activity

Definition at line 105 of file Activity.cpp.

Member Function Documentation

bool Activity::breakLoop ( )

virtual

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

Reimplemented from RTT::os::Thread.

Reimplemented in ConcurrencyPortsTestFixture::PortConnectorThread, ConcurrencyPortsTestFixture::PortReaderThread< T >, ConcurrencyPortsTestFixture::PortWriterThread< T >, RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 263 of file Activity.cpp.

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

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.

Definition at line 157 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 269 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 340 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 143 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 118 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 332 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 336 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 328 of file Activity.cpp.

void Activity::loop ( )

virtual

See also: base::RunnableInterface::loop()

Reimplemented from RTT::os::Thread.

Reimplemented in RTT::corba::OrbRunner, RTT::extras::FileDescriptorActivity, RTT::corba::CorbaDispatcher, and RTT::mqueue::Dispatcher.

Definition at line 173 of file Activity.cpp.

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 345 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 134 of file Activity.cpp.

void Activity::setWaitPeriodPolicy ( int p )

virtual

Set the wait policy of a periodic thread

Parameters

The	wait policy can be ORO_WAIT_ABS (absolute wait) and ORO_WAIT_REL (relative wait, with respect to current time)

Reimplemented from RTT::os::Thread.

Definition at line 350 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 275 of file Activity.cpp.

void Activity::step ( )

virtual

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

Reimplemented from RTT::os::Thread.

Reimplemented in ConcurrencyPortsTestFixture::PortConnectorThread, ConcurrencyPortsTestFixture::PortReaderThread< T >, ConcurrencyPortsTestFixture::PortWriterThread< T >, and RTT::extras::FileDescriptorActivity.

Definition at line 124 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 280 of file Activity.cpp.

os::ThreadInterface * Activity::thread ( )

virtual

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

Implements RTT::base::ActivityInterface.

Definition at line 114 of file Activity.cpp.

bool Activity::timeout ( )

virtual

Requests this Activity to wakeup and call step() + work(Timeout). Will be ignored for periodic activities, since they use an internal timing mechanism, but can be used for non-periodic activities which want to emulate a timeout happening towards the base::RunnableInterface.

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 162 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.

Requests this Activity to wakeup and call step() + work(Trigger). If the thread is periodic, it will continue sleeping for the remainder of the time after the work() has finished.

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.

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 147 of file Activity.cpp.

void Activity::work ( base::RunnableInterface::WorkReason reason )

virtual

Reimplemented in RTT::extras::FileDescriptorActivity.

Definition at line 129 of file Activity.cpp.

Member Data Documentation

os::Condition RTT::Activity::msg_cond

protected

Definition at line 224 of file Activity.hpp.

os::Mutex RTT::Activity::msg_lock

protected

Definition at line 223 of file Activity.hpp.

bool RTT::Activity::mstopRequested

protected

Definition at line 234 of file Activity.hpp.

bool RTT::Activity::mtimeout

protected

When set to true, a next cycle will be a TimeOut cycle.

Definition at line 233 of file Activity.hpp.

int RTT::Activity::mwaitpolicy

protected

Definition at line 235 of file Activity.hpp.

double RTT::Activity::update_period

protected

The period at which the Activity steps().

Definition at line 228 of file Activity.hpp.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation