An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()', which is called by another Activity ('master'). The SlaveActivity can only be started if the master is active or if no master is present. If a master is used, this activity takes periodicity over from the master. If no master is present, use one of the alternative constructors to make a periodic slave or a non periodic slave. More...

#include <SlaveActivity.hpp>

Inheritance diagram for RTT::extras::SlaveActivity:

[legend]

List of all members.

Public Member Functions
bool	breakLoop ()
bool	execute ()
void	finalize ()
unsigned	getCpuAffinity () const
base::ActivityInterface *	getMaster () const
Seconds	getPeriod () const
bool	initialize ()
bool	isActive () const
bool	isPeriodic () const
bool	isRunning () const
void	loop ()
bool	setCpuAffinity (unsigned cpu)
bool	setPeriod (Seconds s)
	SlaveActivity (base::ActivityInterface master, base::RunnableInterface run=0)
	SlaveActivity (double period, base::RunnableInterface *run=0)
	SlaveActivity (base::RunnableInterface *run=0)
bool	start ()
void	step ()
bool	stop ()
os::ThreadInterface *	thread ()
bool	trigger ()
	~SlaveActivity ()
Private Attributes
bool	active
base::ActivityInterface *	mmaster
double	mperiod
bool	running

Detailed Description

An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()', which is called by another Activity ('master'). The SlaveActivity can only be started if the master is active or if no master is present. If a master is used, this activity takes periodicity over from the master. If no master is present, use one of the alternative constructors to make a periodic slave or a non periodic slave.

Any activity object can be a master of a SlaveActivity, including itself. A master needs to keep track of its slave itself. There is no standard mechanism in RTT in which masters execute slaves. You need to code this yourself in your master activity by calling execute() on each Slave.

The only thing a slave does/can do is * be started and stopped independently. * notifying its master that it was triggered (if present) * copying the periodic/thread properties of its master (if present)

Reactions to execute():

In the non periodic case, base::RunnableInterface::loop() is called, in the periodic case, base::RunnableInterface::step() is called. In case the base::RunnableInterface did not implement loop(), step() is invoked by default. If no base::RunnableInterface is given, said functions are called upon SlaveActivity itself.

Reactions to trigger():

trigger() is ignored and returns false when no master is present.

When there is a master: In the non periodic case, trigger() is called upon the master (causing it to execute), in the periodic case, it is ignored (you can not trigger periodic activities).

Definition at line 90 of file SlaveActivity.hpp.

Constructor & Destructor Documentation

SlaveActivity::SlaveActivity	(	base::ActivityInterface *	master,
		base::RunnableInterface *	run = `0`
	)

Create an activity which is the slave of master.

Parameters:

master	The activity which will execute this activity.
run	Run this instance.

Definition at line 46 of file SlaveActivity.cpp.

SlaveActivity::SlaveActivity	(	double	period,
		base::RunnableInterface *	run = `0`
	)

Create an activity which is periodic. If period == 0.0, this constructor is equivalent to the one below for non periodic activities.

Parameters:

period	The periodicity at which you will trigger() this activity.
run	Run this instance.

Definition at line 51 of file SlaveActivity.cpp.

SlaveActivity::SlaveActivity ( base::RunnableInterface * run = 0 )

Create an activity for which trigger() will not be periodically called. The period of this activity will be 0.0.

Parameters:

run	Run this instance.

Definition at line 56 of file SlaveActivity.cpp.

SlaveActivity::~SlaveActivity ( )

Cleanup and notify the base::RunnableInterface that we are gone.

Definition at line 61 of file SlaveActivity.cpp.

Member Function Documentation

bool SlaveActivity::breakLoop ( )

Definition at line 116 of file SlaveActivity.cpp.

bool SlaveActivity::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 191 of file SlaveActivity.cpp.

void SlaveActivity::finalize ( )

Definition at line 122 of file SlaveActivity.cpp.

unsigned SlaveActivity::getCpuAffinity ( ) const [virtual]

Get the cpu affinity of this activity

Returns:: The cpu affinity of this activity.

Implements RTT::base::ActivityInterface.

Definition at line 80 of file SlaveActivity.cpp.

base::ActivityInterface * SlaveActivity::getMaster ( ) const

Definition at line 97 of file SlaveActivity.cpp.

Seconds SlaveActivity::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 66 of file SlaveActivity.cpp.

bool SlaveActivity::initialize ( )

Definition at line 102 of file SlaveActivity.cpp.

bool SlaveActivity::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 179 of file SlaveActivity.cpp.

bool SlaveActivity::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 175 of file SlaveActivity.cpp.

bool SlaveActivity::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 170 of file SlaveActivity.cpp.

void SlaveActivity::loop ( )

Definition at line 111 of file SlaveActivity.cpp.

bool SlaveActivity::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 87 of file SlaveActivity.cpp.

bool SlaveActivity::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 73 of file SlaveActivity.cpp.

bool SlaveActivity::start ( ) [virtual]

Start this slave. Only allowed if the master activity is already running.

Return values:

false	if !master->isRunning() \|\| this->isRunning() \|\| initialize() returns false
true	othwerise.

Implements RTT::base::ActivityInterface.

Definition at line 126 of file SlaveActivity.cpp.

void SlaveActivity::step ( )

Definition at line 107 of file SlaveActivity.cpp.

bool SlaveActivity::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 150 of file SlaveActivity.cpp.

os::ThreadInterface * SlaveActivity::thread ( ) [virtual]

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

Implements RTT::base::ActivityInterface.

Definition at line 92 of file SlaveActivity.cpp.

bool SlaveActivity::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.

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 184 of file SlaveActivity.cpp.