RTT::Configurator Class Reference

A class which configures other objects in small steps spread in time. More...

#include <rtt/Configurator.hpp>

Inheritance diagram for RTT::Configurator:

Public Member Functions
	Configurator (double period)
	Creates a Configurator with configuration period of period.
bool	configure (ConfigurationInterface *target, Seconds _timeout=0)
	Configures target.
ConfigurationInterface *	configTarget () const
	Returns the current configuration target.
bool	initialize ()
void	step ()
void	finalize ()
Protected Types
typedef boost::shared_ptr < ActivityInterface >	shared_ptr
Protected Member Functions
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.
void	init ()
void	disableRun (RunnableInterface *caller)
	This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used.
virtual bool	run (RunnableInterface *r)
	Run exclusively this RunnableInterface.
Protected Attributes
ConfigurationInterface *	mtarget
bool	status
	Flag to save status of the target.
bool	running
	State info.
bool	active
	State info.
TimerThreadPtr	thread_
	The thread which runs this activity.
RunnableInterface *	runner
Friends
class	RunnableInterface

Detailed Description

A class which configures other objects in small steps spread in time.

This is a step-wise configurator which instructs another class to do a configuration 'step'. After the specified period, it instructs to do the next step and so on until an error occured or the configuration is finished.

See also:: ConfigurationInterface

Definition at line 56 of file Configurator.hpp.

Constructor & Destructor Documentation

RTT::Configurator::Configurator ( double period ) [inline]

Creates a Configurator with configuration period of period.

Parameters:

period

The period between each configuration step.

Definition at line 51 of file Configurator.hpp.

Member Function Documentation

bool RTT::Configurator::configure	(	ConfigurationInterface *	target,
		Seconds	_timeout = `0`
	)			`[inline]`

Configures target.

Returns when the configuration finished or terminated in error. So this is a blocking call, but the Configurator itself is a non blocking task.

Returns:: true if the configuration finished, false otherwise.

Definition at line 63 of file Configurator.hpp.

References RTT::OS::LowestPriority.

void RTT::ActivityInterface::disableRun ( RunnableInterface * caller ) [inline, protected, inherited]

This method is only meant for RunnableInterface (ie runner) in order to inform the ActivityInterface it should no longer be used.

run(0) can not be used in this case because it would recurse.

Definition at line 73 of file ActivityInterface.hpp.

virtual bool RTT::PeriodicActivity::execute ( ) [virtual, inherited]

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::ActivityInterface.

Reimplemented in RTT::SimulationActivity.

void RTT::Configurator::finalize ( ) [inline, virtual]

See also:: RunnableInterface::finalize()

Reimplemented from RTT::PeriodicActivity.

Definition at line 103 of file Configurator.hpp.

virtual Seconds RTT::PeriodicActivity::getPeriod ( ) const [virtual, inherited]

Get the periodicity of this activity in Seconds.

Returns:: The execution period of this activity (zero if !this->isPeriodic() ).

Implements RTT::ActivityInterface.

bool RTT::Configurator::initialize ( ) [inline, virtual]

See also:: RunnableInterface::initialize()

Reimplemented from RTT::PeriodicActivity.

Definition at line 91 of file Configurator.hpp.

virtual bool RTT::PeriodicActivity::isActive ( ) const [virtual, inherited]

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::ActivityInterface.

virtual bool RTT::PeriodicActivity::isPeriodic ( ) const [virtual, inherited]

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::ActivityInterface.

virtual bool RTT::PeriodicActivity::isRunning ( ) const [virtual, inherited]

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::ActivityInterface.

virtual bool RTT::ActivityInterface::run ( RunnableInterface * r ) [virtual, inherited]

Run exclusively this RunnableInterface.

Precondition:: this->isRunning() == false

Parameters:

r

The RunnableInterface to run exclusively.

Returns:: true if succeeded, false otherwise

Referenced by RTT::NonPeriodicActivity::run().

virtual bool RTT::PeriodicActivity::start ( ) [virtual, inherited]

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

Implements RTT::ActivityInterface.

Reimplemented in RTT::SimulationActivity.

void RTT::Configurator::step ( ) [inline, virtual]

See also:: RunnableInterface::step()

Reimplemented from RTT::PeriodicActivity.

Definition at line 97 of file Configurator.hpp.

virtual bool RTT::PeriodicActivity::stop ( ) [virtual, inherited]

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::ActivityInterface.

virtual OS::ThreadInterface* RTT::PeriodicActivity::thread ( ) [virtual, inherited]

Returns a pointer to the thread which will run this activity.

Will not be null.

Implements RTT::ActivityInterface.

virtual bool RTT::PeriodicActivity::trigger ( ) [virtual, inherited]

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::ActivityInterface.

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

rtt/Configurator.hpp

RTT::Configurator Class Reference

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation