RTT::ExecutionEngine Class Reference

#include <ExecutionEngine.hpp>

Inheritance diagram for RTT::ExecutionEngine:

Public Member Functions
	ExecutionEngine (base::TaskCore *owner=0)
base::TaskCore *	getParent ()
base::TaskCore *	getTaskCore () const
bool	isSelf () const
virtual bool	process (base::DisposableInterface *c)
virtual bool	process (base::PortInterface *port)
virtual bool	removeFunction (base::ExecutableInterface *f)
virtual bool	removeSelfFunction (base::ExecutableInterface *f)
virtual bool	runFunction (base::ExecutableInterface *f)
void	setExceptionTask ()
bool	stopTask (base::TaskCore *task)
void	waitForMessages (const boost::function< bool(void)> &pred)
	~ExecutionEngine ()
Public Member Functions inherited from RTT::base::RunnableInterface
ActivityInterface *	getActivity () const
	Query for the task this interface is run in. More...
virtual os::ThreadInterface *	getThread () const
virtual void	loop ()
	RunnableInterface ()
virtual void	setActivity (ActivityInterface *task)
	Set the task this interface is run in. More...
virtual	~RunnableInterface ()

Protected Member Functions
virtual bool	breakLoop ()
virtual void	finalize ()
virtual bool	hasWork ()
virtual bool	initialize ()
void	processFunctions ()
void	processHooks ()
void	processMessages ()
void	processPortCallbacks ()
virtual void	step ()
void	waitAndProcessMessages (boost::function< bool(void)> const &pred)
void	waitForMessagesInternal (boost::function< bool(void)> const &pred)
virtual void	work (RunnableInterface::WorkReason reason)

Protected Attributes
internal::MWSRQueue< base::ExecutableInterface * > *	f_queue
internal::MWSRQueue< base::DisposableInterface * > *	mqueue
os::Condition	msg_cond
os::Mutex	msg_lock
internal::MWSRQueue< base::PortInterface * > *	port_queue
base::TaskCore *	taskc

Additional Inherited Members
Public Types inherited from RTT::base::RunnableInterface
enum	WorkReason { TimeOut = 0, Trigger, IOReady }

Detailed Description

An execution engine serialises (executes one after the other) the execution of all commands, programs, state machines and incoming events for a task. Any function executing in the same execution engine is guaranteed to be thread-safe with respect to other functions executing in the same execution engine.

Definition at line 69 of file ExecutionEngine.hpp.

Constructor & Destructor Documentation

RTT::ExecutionEngine::ExecutionEngine

(

base::TaskCore *

owner = 0

)

Create an execution engine with a internal::CommandProcessor, scripting::ProgramProcessor and StateMachineProcessor.

Parameters

owner

The base::TaskCore in which this execution engine executes. It may be null, in that case no base::TaskCore owns this execution engine.

Definition at line 69 of file ExecutionEngine.cpp.

RTT::ExecutionEngine::~ExecutionEngine

(

)

Definition at line 77 of file ExecutionEngine.cpp.

Member Function Documentation

bool RTT::ExecutionEngine::breakLoop ( )

protectedvirtual

This method is called by the framework to break out of the loop() method. Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns

true if the loop could be notified to return.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 386 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::finalize ( )

protectedvirtual

The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.

Implements RTT::base::RunnableInterface.

Definition at line 419 of file ExecutionEngine.cpp.

TaskCore * RTT::ExecutionEngine::getParent

(

)

The base::TaskCore which created this ExecutionEngine. Identical to getTaskCore().

Definition at line 94 of file ExecutionEngine.cpp.

base::TaskCore* RTT::ExecutionEngine::getTaskCore ( ) const

inline

Returns the owner of this execution engine. Identical to getParent().

Definition at line 93 of file ExecutionEngine.hpp.

bool RTT::ExecutionEngine::hasWork ( )

protectedvirtual

This method is for 'intelligent' activity implementations that wish to see if it is required to call step() (again). By default, false is returned. You should only return true in case there is a temporary reason to (re-)run step.

Returns

true if this object should be run.

See also

extras::SequentialActivity implementation to see how this can be of use.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 194 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::initialize ( )

protectedvirtual

The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.

Implements RTT::base::RunnableInterface.

Definition at line 190 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::isSelf

(

)

const

Check if the thread that processes messages send to this engine is the same as the calling thread. This method is typically used to check if operation or function calls can be inlined or even must be inlined to resolve potential dead-locks.

Returns

true if it is safe to process messages directly that otherwise would have been passed to ExecutionEngine::process(base::DisposableInterface *)

Definition at line 279 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::process ( base::DisposableInterface *  c )

virtual

Queue and execute (process) a given message. The message is executed in step() or loop() directly after all other queued ActionInterface objects. The constructor parameter queue_size limits how many messages can be queued in between step()s or loop().

Returns

true if the message got accepted, false otherwise.

false if the engine does not accept messages.

Definition at line 242 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::process ( base::PortInterface *  port )

virtual

Queue and execute (process) a given port callback. The port callback is executed in step() or loop() directly after the queued messages.

Returns

true if the port callback got accepted, false otherwise.

false if the engine does not accept messages.

Definition at line 257 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::processFunctions ( )

protected

Definition at line 98 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::processHooks ( )

protected

Definition at line 352 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::processMessages ( )

protected

Definition at line 199 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::processPortCallbacks ( )

protected

Definition at line 224 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::removeFunction ( base::ExecutableInterface *  f )

virtual

Remove a running function added with runFunction. This method is only required if the function is to be destroyed and is still present in the Engine.

Definition at line 145 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::removeSelfFunction ( base::ExecutableInterface *  f )

virtual

Self-removal for a running function added with runFunction. You must call this variant in case you want yourself to be removed. Equivalent to returning false in ExecutableInterface::execute().

Definition at line 171 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::runFunction ( base::ExecutableInterface *  f )

virtual

Run a given function in step() or loop(). The function may only be destroyed after the ExecutionEngine is stopped or removeFunction() was invoked. The number of functions the Processor can run in parallel can be increased with setMaxFunctions().

Returns

false if the Engine is not running or the 'pending' queue is full.

See also

removeFunction(), setMaxFunctions()

Definition at line 117 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::setExceptionTask

(

)

Set the 'owner' task in the exception state.

Definition at line 404 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::step ( )

protectedvirtual

Executes (in that order) Messages, Functions and updateHook() functions of this TaskContext and its children.

Implements RTT::base::RunnableInterface.

Definition at line 318 of file ExecutionEngine.cpp.

bool RTT::ExecutionEngine::stopTask

(

base::TaskCore *

task

)

Stops executing the updateHook of task. This is an explicit synchronisation point, which guarantees that updateHook is no longer executed when this function returns true.

Parameters

task	The Task calling this function and whose updateHook should no longer be executed.

Returns

true if it's updateHook() is no longer being executed, false otherwise.

Definition at line 393 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::waitAndProcessMessages ( boost::function< bool(void)> const &  pred )

protected

Call this if you wish to block on a message arriving in the Execution Engine and execute it.

Parameters

pred	As long as !pred() waits and processes messages. If pred() == true when entering this function, then no messages will be processed and this function returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Note

waitAndProcessMessages will call in turn this->processMessages() and may as a consequence recurse if we get an asynchronous call-back.

Definition at line 296 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::waitForMessages

(

const boost::function< bool(void)> &

pred

)

Call this if you wish to block on a message arriving in the Execution Engine. Each time one or more messages are processed, waitForMessages will return when pred() returns true.

Parameters

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Definition at line 271 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::waitForMessagesInternal ( boost::function< bool(void)> const &  pred )

protected

Call this if you wish to block on a message arriving in the Execution Engine. Each time one or more messages are processed, waitForMessages will return when pred() returns true.

Parameters

pred	As long as !pred() blocks the calling thread. If pred() == true when entering this function, the returns immediately.

This function is for internal use only and is required for asynchronous method invocations.

Note

waitForMessages requires another thread to execute processMessages() and may therefor not be called from within the component's Thread. Use waitAndProcessMessages() instead.

Definition at line 284 of file ExecutionEngine.cpp.

void RTT::ExecutionEngine::work ( RunnableInterface::WorkReason  reason )

protectedvirtual

Identical to step() but gives a reason why the function was called. Both step() and work() will be called an equal amount of times, so you need to use only one, but work gives you the reason why.

Reimplemented from RTT::base::RunnableInterface.

Definition at line 322 of file ExecutionEngine.cpp.

Member Data Documentation

internal::MWSRQueue<base::ExecutableInterface*>* RTT::ExecutionEngine::f_queue

protected

Stores all functions we're executing.

Definition at line 224 of file ExecutionEngine.hpp.

internal::MWSRQueue<base::DisposableInterface*>* RTT::ExecutionEngine::mqueue

protected

Our Message queue

Definition at line 214 of file ExecutionEngine.hpp.

os::Condition RTT::ExecutionEngine::msg_cond

protected

Definition at line 227 of file ExecutionEngine.hpp.

os::Mutex RTT::ExecutionEngine::msg_lock

protected

Definition at line 226 of file ExecutionEngine.hpp.

internal::MWSRQueue<base::PortInterface*>* RTT::ExecutionEngine::port_queue

protected

The port callback queue

Definition at line 219 of file ExecutionEngine.hpp.

base::TaskCore* RTT::ExecutionEngine::taskc

protected

The parent or 'owner' of this ExecutionEngine, may be null.

Definition at line 209 of file ExecutionEngine.hpp.

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

• ExecutionEngine.hpp
• ExecutionEngine.cpp