#include <rtt/PeriodicActivity.hpp>
Inheritance diagram for PeriodicActivity:
A PeriodicActivity is executed in a TimerThread. Multiple PeriodicActivities executing in the same TimerThread will be executed one after the other. If, by user choice, the PeriodicActivity has a period which is a multiple (n) of the thread's period, it may be executed every n'th execution period of that thread.
It will execute a RunnableInterface, or the equivalent methods in it's own interface when none is given. When initialize() returns false, it will abort start(). If the PeriodicActivity is stop()'ed, finalize() is called in the calling thread of stop().
Public Member Functions | |
| PeriodicActivity (int priority, Seconds period, RunnableInterface *r=0) | |
| Create a Periodic Activity with a given priority and period. | |
| PeriodicActivity (TimerThreadPtr thread, RunnableInterface *r=0) | |
| Create a Periodic Activity executing in a given thread. | |
| PeriodicActivity (Seconds period, TimerThreadPtr thread, RunnableInterface *r=0) | |
| Create a Periodic Activity with a given period and thread. | |
| PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, RunnableInterface *r=0) | |
| Create a Periodic Activity with a given period and thread. | |
| virtual | ~PeriodicActivity () |
| Stops and terminates a PeriodicActivity. | |
| bool | run (RunnableInterface *r) |
| Run exclusively this RunnableInterface. | |
| virtual bool | start () |
| Start the activity. | |
| virtual bool | execute () |
| Execute this activity such that it executes a step or loop of the RunnableInterface. | |
| virtual bool | trigger () |
| Trigger that work has to be done. | |
| virtual bool | stop () |
| Stop the activity This will stop the activity by removing it from the 'run-queue' of a thread or call RunnableInterface::breakLoop(). | |
| virtual bool | isRunning () const |
| Query if the activity is initialized and executing. | |
| virtual bool | isActive () const |
| Query if the activity is started. | |
| virtual bool | isPeriodic () const |
| Inspect if this activity is periodic. | |
| virtual Seconds | getPeriod () const |
| Get the periodicity of this activity in Seconds. | |
| virtual OS::ThreadInterface * | thread () |
| Returns a pointer to the thread which will run this activity. | |
| virtual bool | initialize () |
| |
| virtual void | step () |
| |
| virtual void | finalize () |
| |
| void | doStep () |
| Called by the TimerInterface. | |
Protected Member Functions | |
| void | init () |
Protected Attributes | |
| RunnableInterface * | runner |
| When runner != 0 it will be executed instead of this instances initialize(), step() and finalize() functions. | |
| bool | running |
| State info. | |
| bool | active |
| State info. | |
| nsecs | per_ns |
| This activity's period in nanoseconds. | |
| TimerThreadPtr | thread_ |
| The thread which runs this activity. | |
| detail::TimerInterface * | timer_ |
| The timer which steps this activity. | |
| PeriodicActivity | ( | int | priority, | |
| Seconds | period, | |||
| RunnableInterface * | r = 0 | |||
| ) |
Create a Periodic Activity with a given priority and period.
| priority | The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created. | |
| period | The periodicity of the PeriodicActivity | |
| r | The optional RunnableInterface to run exclusively within this Activity |
| PeriodicActivity | ( | TimerThreadPtr | thread, | |
| RunnableInterface * | r = 0 | |||
| ) |
Create a Periodic Activity executing in a given thread.
| thread | The thread this Activity will be run in. Both period and priority of this activity will be the same as thread. | |
| r | The optional RunnableInterface to run exclusively within this Activity |
| PeriodicActivity | ( | Seconds | period, | |
| TimerThreadPtr | thread, | |||
| RunnableInterface * | r = 0 | |||
| ) |
Create a Periodic Activity with a given period and thread.
| period | The periodicity of the PeriodicActivity | |
| thread | The thread this Activity will be run in. The given period must be a multiple of the thread's period. | |
| r | The optional RunnableInterface to run exclusively within this Activity |
| PeriodicActivity | ( | secs | sec, | |
| nsecs | nsec, | |||
| TimerThreadPtr | thread, | |||
| RunnableInterface * | r = 0 | |||
| ) |
Create a Periodic Activity with a given period and thread.
| sec | The periodicity of the PeriodicActivity, seconds partition | |
| nsec | The periodicity of the PeriodicActivity, nanoseconds partition | |
| thread | The thread this Activity will be run in. The given period (sec, nsec) must be a multiple of the thread's period. | |
| r | The optional RunnableInterface to run exclusively within this Activity |
| bool run | ( | RunnableInterface * | r | ) | [virtual] |
Run exclusively this RunnableInterface.
| r | The RunnableInterface to run exclusively. |
Implements ActivityInterface.
| virtual bool 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.
Implements ActivityInterface.
Reimplemented in SimulationActivity.
| virtual bool 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.
| true | When this->isActive() and the implementation allows external executes. | |
| false | When !this->isActive() or the implementation does not allow external updating. |
Implements ActivityInterface.
Reimplemented in SimulationActivity.
| virtual bool trigger | ( | ) | [virtual] |
Trigger that work has to be done.
When you invoke trigger(), you intend to notify the instance 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.
| true | When this->isActive() and the implementation allows external triggers. | |
| false | When !this->isActive() or the implementation does not allow external triggering. |
Implements ActivityInterface.
| virtual bool 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.
Implements ActivityInterface.
| virtual bool 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.
Implements ActivityInterface.
| virtual bool 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.
Implements ActivityInterface.
| virtual bool 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().
Implements ActivityInterface.
| virtual Seconds getPeriod | ( | ) | const [virtual] |
Get the periodicity of this activity in Seconds.
Implements ActivityInterface.
| virtual OS::ThreadInterface* thread | ( | ) | [virtual] |
Returns a pointer to the thread which will run this activity.
Will not be null.
Implements ActivityInterface.
1.5.1