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:

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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

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 65 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 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.

Parameters

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.

Member Function Documentation

bool SlaveActivity::breakLoop ( )

virtual

Definition at line 138 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 221 of file SlaveActivity.cpp.

void SlaveActivity::finalize ( )

virtual

Definition at line 144 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 103 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 89 of file SlaveActivity.cpp.

bool SlaveActivity::initialize ( )

virtual

Definition at line 120 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 201 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 197 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 192 of file SlaveActivity.cpp.

void SlaveActivity::loop ( )

virtual

Definition at line 133 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 110 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 96 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 148 of file SlaveActivity.cpp.

void SlaveActivity::step ( )

virtual

Definition at line 125 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 172 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 115 of file SlaveActivity.cpp.

bool SlaveActivity::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 215 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.

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 206 of file SlaveActivity.cpp.

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

virtual

Definition at line 129 of file SlaveActivity.cpp.

Member Data Documentation

bool RTT::extras::SlaveActivity::active

private

Definition at line 163 of file SlaveActivity.hpp.

base::ActivityInterface* RTT::extras::SlaveActivity::mmaster

private

Definition at line 160 of file SlaveActivity.hpp.

double RTT::extras::SlaveActivity::mperiod

private

Definition at line 161 of file SlaveActivity.hpp.

base::DisposableInterface* RTT::extras::SlaveActivity::mtrigger

private

Definition at line 165 of file SlaveActivity.hpp.

bool RTT::extras::SlaveActivity::running

private

Definition at line 162 of file SlaveActivity.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Reactions to execute():

Reactions to trigger():

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation