A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints. More...

#include <PeriodicActivity.hpp>

Inheritance diagram for RTT::extras::PeriodicActivity:

Public Member Functions
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

	PeriodicActivity (int priority, Seconds period, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given priority and period. The default scheduler for PeriodicActivity objects is ORO_SCHED_RT. More...

	PeriodicActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period. More...

	PeriodicActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given scheduler type, priority and period. More...

	PeriodicActivity (TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity executing in a given thread. More...

	PeriodicActivity (Seconds period, TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread. More...

	PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, base::RunnableInterface *r=0)
	Create a Periodic Activity with a given period and thread. More...

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	setPeriod (Seconds s)

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	~PeriodicActivity ()

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

	ActivityInterface (RunnableInterface *run)

virtual RunnableInterface *	getRunner () const

virtual bool	run (RunnableInterface *r)

virtual	~ActivityInterface ()

Protected Member Functions
void	init ()

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

Protected Attributes
bool	active

bool	running

TimerThreadPtr	thread_

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

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

Detailed Description

A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints.

A PeriodicActivity is executed in a TimerThread. Multiple PeriodicActivities having the same priority and periodicity will be executed in the same TimerThread one after the other.

It will execute a base::RunnableInterface, or the equivalent methods in it's own interface when none is given. When initialize() returns false, it will abort start(). If the PeriodicActivity is stop()'ed, finalize() is called in the calling thread of stop().

Definition at line 70 of file PeriodicActivity.hpp.

Constructor & Destructor Documentation

PeriodicActivity::PeriodicActivity	(	int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given priority and period. The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.

Parameters

priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 52 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 59 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		unsigned	cpu_affinity,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
period	The periodicity of the PeriodicActivity
cpu_affinity	The prefered cpu to run on (a mask)
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 66 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity executing in a given thread.

Parameters

thread	The thread this Activity will be run in. Both period and priority of this activity will be the same as thread.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 73 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	Seconds	period,
		TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters

period	The periodicity of the PeriodicActivity
thread	The thread this Activity will be run in. The given period must be a multiple of the thread's period.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 80 of file PeriodicActivity.cpp.

PeriodicActivity::PeriodicActivity	(	secs	sec,
		nsecs	nsec,
		TimerThreadPtr	thread,
		base::RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters

sec	The periodicity of the PeriodicActivity, seconds partition
nsec	The periodicity of the PeriodicActivity, nanoseconds partition
thread	The thread this Activity will be run in. The given period (sec, nsec) must be a multiple of the thread's period.
r	The optional base::RunnableInterface to run exclusively within this Activity

Definition at line 87 of file PeriodicActivity.cpp.

PeriodicActivity::~PeriodicActivity ( )

virtual

Stops and terminates a PeriodicActivity

Definition at line 95 of file PeriodicActivity.cpp.

Member Function Documentation

bool PeriodicActivity::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.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 185 of file PeriodicActivity.cpp.

void PeriodicActivity::finalize ( )

virtual

See also: base::RunnableInterface::finalize()

Definition at line 214 of file PeriodicActivity.cpp.

unsigned PeriodicActivity::getCpuAffinity ( ) const

virtual

Get the cpu affinity of this activity

Returns: The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 168 of file PeriodicActivity.cpp.

Seconds PeriodicActivity::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.

Definition at line 159 of file PeriodicActivity.cpp.

void PeriodicActivity::init ( )

protected

Definition at line 100 of file PeriodicActivity.cpp.

bool PeriodicActivity::initialize ( )

virtual

See also: base::RunnableInterface::initialize()

Definition at line 178 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 154 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 221 of file PeriodicActivity.cpp.

bool PeriodicActivity::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.

Definition at line 149 of file PeriodicActivity.cpp.

bool PeriodicActivity::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 173 of file PeriodicActivity.cpp.

bool PeriodicActivity::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.

Definition at line 164 of file PeriodicActivity.cpp.

bool PeriodicActivity::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::SimulationActivity.

Definition at line 103 of file PeriodicActivity.cpp.

void PeriodicActivity::step ( )

virtual

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

Definition at line 200 of file PeriodicActivity.cpp.

bool PeriodicActivity::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.

Definition at line 134 of file PeriodicActivity.cpp.

os::ThreadInterface * PeriodicActivity::thread ( )

virtual

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

Implements RTT::base::ActivityInterface.

Reimplemented in RTT::extras::SimulationActivity.

Definition at line 219 of file PeriodicActivity.cpp.

bool PeriodicActivity::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.

Definition at line 190 of file PeriodicActivity.cpp.

bool PeriodicActivity::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.

Definition at line 195 of file PeriodicActivity.cpp.

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

virtual

See also: base::RunnableInterface::work()

Definition at line 207 of file PeriodicActivity.cpp.

Member Data Documentation

bool RTT::extras::PeriodicActivity::active

protected

State info.

Definition at line 228 of file PeriodicActivity.hpp.

bool RTT::extras::PeriodicActivity::running

protected

State info.

Definition at line 223 of file PeriodicActivity.hpp.

TimerThreadPtr RTT::extras::PeriodicActivity::thread_

protected

The thread which runs this activity.

Definition at line 233 of file PeriodicActivity.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation