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>
Public Member Functions | |
virtual bool | breakLoop () |
bool | execute () |
virtual void | finalize () |
unsigned | getCpuAffinity () const |
Seconds | getPeriod () const |
virtual bool | initialize () |
bool | isActive () const |
bool | isPeriodic () const |
bool | isRunning () const |
virtual 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 () |
virtual void | step () |
bool | stop () |
os::ThreadInterface * | thread () |
bool | timeout () |
bool | trigger () |
virtual void | work (base::RunnableInterface::WorkReason reason) |
~SlaveActivity () | |
Public Member Functions inherited from RTT::base::ActivityInterface | |
ActivityInterface () | |
ActivityInterface (RunnableInterface *run) | |
virtual RunnableInterface * | getRunner () const |
virtual bool | run (RunnableInterface *r) |
virtual | ~ActivityInterface () |
Private Attributes | |
bool | active |
base::ActivityInterface * | mmaster |
double | mperiod |
base::DisposableInterface * | mtrigger |
bool | running |
Additional Inherited Members | |
Public Types inherited from RTT::base::ActivityInterface | |
typedef boost::shared_ptr< ActivityInterface > | shared_ptr |
Protected Member Functions inherited from RTT::base::ActivityInterface | |
void | disableRun (RunnableInterface *caller) |
Protected Attributes inherited from RTT::base::ActivityInterface | |
RunnableInterface * | runner |
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
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.
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.
SlaveActivity::SlaveActivity | ( | base::ActivityInterface * | master, |
base::RunnableInterface * | run = 0 |
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Create an activity which is the slave of master.
master | The activity which will execute this activity. |
run | Run this instance. |
Definition at line 65 of file SlaveActivity.cpp.
SlaveActivity::SlaveActivity | ( | double | period, |
base::RunnableInterface * | run = 0 |
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Create an activity which is periodic. If period == 0.0, this constructor is equivalent to the one below for non periodic activities.
period | The periodicity at which you will trigger() this activity. |
run | Run this instance. |
Definition at line 71 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.
run | Run this instance. |
Definition at line 77 of file SlaveActivity.cpp.
SlaveActivity::~SlaveActivity | ( | ) |
Cleanup and notify the base::RunnableInterface that we are gone.
Definition at line 83 of file SlaveActivity.cpp.
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Definition at line 138 of file SlaveActivity.cpp.
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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().
true | When this->isActive() and the implementation allows external executes. |
false | When !this->isActive() or the implementation does not allow external updating. |
Implements RTT::base::ActivityInterface.
Definition at line 221 of file SlaveActivity.cpp.
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Definition at line 144 of file SlaveActivity.cpp.
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Get the cpu affinity of this activity
Implements RTT::base::ActivityInterface.
Definition at line 103 of file SlaveActivity.cpp.
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Get the periodicity of this activity in Seconds
Implements RTT::base::ActivityInterface.
Definition at line 89 of file SlaveActivity.cpp.
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Definition at line 120 of file SlaveActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 201 of file SlaveActivity.cpp.
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Inspect if this activity is periodic. If so, it will call RunnableInterface::step(). If the activity is not periodic, it will call RunnableInterface::loop().
Implements RTT::base::ActivityInterface.
Definition at line 197 of file SlaveActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 192 of file SlaveActivity.cpp.
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Definition at line 133 of file SlaveActivity.cpp.
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Set the cpu affinity of this activity.
Implements RTT::base::ActivityInterface.
Definition at line 110 of file SlaveActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 96 of file SlaveActivity.cpp.
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Start this slave. Only allowed if the master activity is already running.
false | if !master->isRunning() || this->isRunning() || initialize() returns false |
true | othwerise. |
Implements RTT::base::ActivityInterface.
Definition at line 148 of file SlaveActivity.cpp.
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Definition at line 125 of file SlaveActivity.cpp.
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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.
Implements RTT::base::ActivityInterface.
Definition at line 172 of file SlaveActivity.cpp.
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Returns a pointer to the thread which will run this activity. Will not be null.
Implements RTT::base::ActivityInterface.
Definition at line 115 of file SlaveActivity.cpp.
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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 215 of file SlaveActivity.cpp.
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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.
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 206 of file SlaveActivity.cpp.
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Definition at line 129 of file SlaveActivity.cpp.
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Definition at line 163 of file SlaveActivity.hpp.
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Definition at line 160 of file SlaveActivity.hpp.
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Definition at line 161 of file SlaveActivity.hpp.
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Definition at line 165 of file SlaveActivity.hpp.
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Definition at line 162 of file SlaveActivity.hpp.