#include <FileDescriptorActivity.hpp>

Inheritance diagram for RTT::extras::FileDescriptorActivity:

[legend]

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")

	FileDescriptorActivity (int scheduler, int priority, Seconds period, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")

	FileDescriptorActivity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *_r=0, const std::string &name="FileDescriptorActivity")

virtual Seconds	getPeriod () const
	Get the intended period (not the actual running period) More...

int	getTimeout () const

int	getTimeout_us () const

bool	hasError () const

bool	hasTimeout () const

bool	isRunning () const

bool	isUpdated (int fd) const

bool	isWatched (int fd) const

virtual void	loop ()

virtual bool	setPeriod (Seconds period)
	Set the intended period (not the actual running period) More...

void	setTimeout (int timeout)

void	setTimeout_us (int timeout_us)

virtual bool	start ()

virtual void	step ()

virtual bool	stop ()

virtual bool	timeout ()

virtual bool	trigger ()

void	unwatch (int fd)

void	watch (int fd)

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

virtual	~FileDescriptorActivity ()

Public Member Functions inherited from RTT::extras::FileDescriptorActivityInterface
virtual	~FileDescriptorActivityInterface ()

Public Member Functions inherited from RTT::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. 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	execute ()

virtual void	finalize ()

virtual unsigned	getCpuAffinity () const

virtual bool	initialize ()

virtual bool	isActive () const

virtual bool	isPeriodic () const

virtual bool	setCpuAffinity (unsigned cpu)

void	setWaitPeriodPolicy (int p)

virtual os::ThreadInterface *	thread ()

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 ()

Private Member Functions
void	triggerUpdateSets ()

Private Attributes
bool	m_break_loop

RTT::os::Mutex	m_command_mutex

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
	intended period More...

Seconds	m_period
	timeout in microseconds More...

bool	m_running

int	m_timeout_us

bool	m_trigger

bool	m_update_sets

std::set< int >	m_watched_fds

Static Private Attributes
static const char	CMD_ANY_COMMAND = 0

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 ()

Protected Attributes inherited from RTT::Activity
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

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 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); // or in microseconds fd_activity->setTimeout_us(1000); }

Then, updateHook() and – when in ERROR state – errorHook() will be called when one of these three events happen:

new data is available on one of the watched FDs
an error happens on one of the watched FDs
the timeout is reached

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 104 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

priority	The priority of the underlying thread.
_r	The optional runner, if none, this->loop() is called.
name	The 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

priority	The priority of the underlying thread.
_r	The optional runner, if none, this->loop() is called.

Definition at line 78 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

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

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

Parameters

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

Definition at line 103 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		base::RunnableInterface *	_r = `0`,
		const std::string &	name = `"FileDescriptorActivity"`
	)

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

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of the underlying thread.
period	The intended periodicity of the activity
_r	The optional runner, if none, this->loop() is called.
name	The name of the underlying thread.

Definition at line 119 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::FileDescriptorActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		unsigned	cpu_affinity,
		base::RunnableInterface *	_r = `0`,
		const std::string &	name = `"FileDescriptorActivity"`
	)

Create a FileDescriptorActivity with a given scheduler type, priority, intended period, CPU affinity, and RunnableInterface instance.

Parameters

scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
priority	The priority of the underlying thread.
period	The intended periodicity of the activity
cpu_affinity	The prefered cpu to run on (a mask)
_r	The optional runner, if none, this->loop() is called.
name	The name of the underlying thread.

Definition at line 135 of file FileDescriptorActivity.cpp.

FileDescriptorActivity::~FileDescriptorActivity ( )

virtual

Definition at line 151 of file FileDescriptorActivity.cpp.

Member Function Documentation

bool FileDescriptorActivity::breakLoop ( )

virtual

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

Reimplemented from RTT::Activity.

Definition at line 414 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::clearAllWatches ( )

virtual

Remove all FDs that are currently being watched

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 206 of file FileDescriptorActivity.cpp.

Seconds FileDescriptorActivity::getPeriod ( ) const

virtual

Get the intended period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 156 of file FileDescriptorActivity.cpp.

int FileDescriptorActivity::getTimeout ( ) const

virtual

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

Returns: The timeout (milliseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 169 of file FileDescriptorActivity.cpp.

int FileDescriptorActivity::getTimeout_us ( ) const

virtual

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

Returns: The timeout (microseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 171 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::hasError ( ) const

virtual

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().

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 222 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::hasTimeout ( ) const

virtual

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().

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 224 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 167 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isUpdated ( int fd ) const

virtual

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().

Parameters

fd	the file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 220 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::isWatched ( int fd ) const

virtual

True if this specific FD is being watched by the activity

Parameters

fd	the file descriptor

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 226 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::loop ( )

virtual

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

Reimplemented from RTT::Activity.

Definition at line 303 of file FileDescriptorActivity.cpp.

bool FileDescriptorActivity::setPeriod ( Seconds period )

virtual

Set the intended period (not the actual running period)

Reimplemented from RTT::Activity.

Definition at line 159 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::setTimeout ( int timeout )

virtual

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

Precondition: 0 <= timeout (otherwise an error is logged and timeout is ignored)

Parameters

timeout The timeout (milliseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 173 of file FileDescriptorActivity.cpp.

void FileDescriptorActivity::setTimeout_us ( int timeout_us )

virtual

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

Precondition: 0 <= timeout (otherwise an error is logged and timeout_us is ignored)

Parameters

timeout The timeout (microseconds)

Implements RTT::extras::FileDescriptorActivityInterface.

Definition at line 177 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 230 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 424 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.