Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
RTT::extras::FileDescriptorActivity Class Reference

#include <FileDescriptorActivity.hpp>

Inheritance diagram for RTT::extras::FileDescriptorActivity:
Inheritance graph
[legend]

List of all members.

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")
int getTimeout () const
bool hasError () const
bool hasTimeout () const
bool isRunning () const
bool isUpdated (int fd) const
bool isWatched (int fd) const
virtual void loop ()
void setTimeout (int timeout)
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

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
bool m_running
int m_timeout
std::set< int > m_watched_fds

Static Private Attributes

static const char CMD_BREAK_LOOP = 0
static const char CMD_TRIGGER = 1
static const char CMD_UPDATE_SETS = 2

Detailed Description

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); }

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 101 of file FileDescriptorActivity.hpp.


Constructor & Destructor Documentation

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.

Parameters:
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.
nameThe 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.

Parameters:
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.

Definition at line 79 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.

Parameters:
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.
nameThe name of the underlying thread.

Create a FileDescriptorActivity with a given scheduler type, priority and RunnableInterface instance.

Parameters:
schedulerThe scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priorityThe priority of the underlying thread.
_rThe optional runner, if none, this->loop() is called.

Definition at line 97 of file FileDescriptorActivity.cpp.

Definition at line 106 of file FileDescriptorActivity.cpp.


Member Function Documentation

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

Reimplemented from RTT::Activity.

Definition at line 285 of file FileDescriptorActivity.cpp.

Remove all FDs that are currently being watched

Definition at line 135 of file FileDescriptorActivity.cpp.

Get the timeout, in milliseconds, for waiting on the IO. Set to 0 for blocking behaviour (no timeout).

Definition at line 113 of file FileDescriptorActivity.cpp.

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 149 of file FileDescriptorActivity.cpp.

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 151 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.

Returns:
true if it is running, false otherwise

Reimplemented from RTT::Activity.

Definition at line 111 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 147 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isWatched ( int  fd) const

True if this specific FD is being watched by the activity

Definition at line 153 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::loop ( ) [virtual]
See also:
base::RunnableInterface::loop()

Reimplemented from RTT::Activity.

Definition at line 188 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 115 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.

See also:
isPeriodic()
Returns:
true if the activity is started, false otherwise

Reimplemented from RTT::Activity.

Definition at line 157 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 296 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.

See also:
isPeriodic()
Returns:
true if the activity is stopped, false otherwise

Reimplemented from RTT::Activity.

Definition at line 304 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 175 of file FileDescriptorActivity.cpp.

Internal method that makes sure loop() takes into account modifications in the set of watched FDs

Definition at line 141 of file FileDescriptorActivity.cpp.

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 129 of file FileDescriptorActivity.cpp.

Sets the file descriptor the activity should be listening to.

  • close_on_stop { if true, the file descriptor will be closed by the activity when stop() is called. Otherwise, the file descriptor is left as-is.}

This method is thread-safe, i.e. it can be called from any thread

Parameters:
fdthe file descriptor
close_on_stopif true, the FD will be closed automatically when the activity is stopped

Definition at line 117 of file FileDescriptorActivity.cpp.


Member Data Documentation

const char FileDescriptorActivity::CMD_BREAK_LOOP = 0 [static, private]

Definition at line 114 of file FileDescriptorActivity.hpp.

const char FileDescriptorActivity::CMD_TRIGGER = 1 [static, private]

Definition at line 115 of file FileDescriptorActivity.hpp.

const char FileDescriptorActivity::CMD_UPDATE_SETS = 2 [static, private]

Definition at line 116 of file FileDescriptorActivity.hpp.

Definition at line 109 of file FileDescriptorActivity.hpp.

Definition at line 110 of file FileDescriptorActivity.hpp.

Definition at line 111 of file FileDescriptorActivity.hpp.

Definition at line 112 of file FileDescriptorActivity.hpp.

Definition at line 105 of file FileDescriptorActivity.hpp.

Lock that protects the access to m_fd_set and m_watched_fds

Definition at line 108 of file FileDescriptorActivity.hpp.

Definition at line 104 of file FileDescriptorActivity.hpp.

Definition at line 106 of file FileDescriptorActivity.hpp.

Definition at line 103 of file FileDescriptorActivity.hpp.


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


rtt
Author(s): RTT Developers
autogenerated on Mon Oct 6 2014 03:13:58