RTT::NonPeriodicActivity Class Reference
[Activity (thread) classes.]

A ActivityInterface implementation which is run in a SingleThread. More...

#include <rtt/NonPeriodicActivity.hpp>

Inheritance diagram for RTT::NonPeriodicActivity:

List of all members.

Public Types
typedef boost::shared_ptr < ActivityInterface >	shared_ptr
Public Member Functions
	NonPeriodicActivity (int priority, RunnableInterface *_r=0)
	Create an NonPeriodicActivity with a given priority and RunnableInterface instance.
	NonPeriodicActivity (int scheduler, int priority, RunnableInterface *_r=0)
	Create an NonPeriodicActivity with a given scheduler type, priority and RunnableInterface instance.
	NonPeriodicActivity (int priority, const std::string &name, RunnableInterface *_r=0)
	Create an NonPeriodicActivity with a given priority, name and RunnableInterface instance.
bool	run (int)
	Run another (or self in case of null) task.
virtual Seconds	getPeriod () const
	Get the periodicity of this activity in Seconds.
virtual ThreadInterface *	thread ()
	Returns a pointer to the thread which will run this activity.
virtual bool	initialize ()
virtual void	loop ()
virtual bool	breakLoop ()
virtual void	finalize ()
virtual bool	isPeriodic () const
	Inspect if this activity is periodic.
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	run (RunnableInterface *r)
	Run exclusively this RunnableInterface.
Protected Member Functions
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.
Protected Attributes
RunnableInterface *	runner
Private Member Functions
virtual bool	run (OS::RunnableInterface *r)
	Run the functionality of one RunnableInterface object.
virtual const char *	getName () const
	Read the name of this task.
virtual RTOS_TASK *	getTask ()
	Get the RTOS_TASK pointer FIXME should this be a const?
virtual bool	setScheduler (int sched_type)
	Change the scheduler policy in which this thread runs.
virtual int	getScheduler () const
	Get the scheduler policy in which this thread runs.
virtual bool	setPeriod (Seconds period)
	Set the periodicity in Seconds.
virtual nsecs	getPeriodNS () const
	Get the periodicity in nanoseconds.
virtual bool	setPriority (int priority)
	Set the priority of this Thread.
virtual int	getPriority () const
	The priority of this Thread.
virtual void	yield ()
	Yields (put to the back of the scheduler queue) the calling thread.
unsigned int	threadNumber () const
	The unique thread number (within the same process).
Private Attributes
int	threadnb
	Threads are given an unique number, which follows thread creation order.
Friends
class	RunnableInterface

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Detailed Description

A ActivityInterface implementation which is run in a SingleThread.

By default, (if no RunnableInterface is given and no overloads are present ) loop() returns immediately.

Definition at line 60 of file NonPeriodicActivity.hpp.

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Constructor & Destructor Documentation

RTT::NonPeriodicActivity::NonPeriodicActivity	(	int	priority,
		RunnableInterface *	_r = 0
	)

Create an NonPeriodicActivity 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.

RTT::NonPeriodicActivity::NonPeriodicActivity	(	int	scheduler,
		int	priority,
		RunnableInterface *	_r = 0
	)

Create an NonPeriodicActivity 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.

RTT::NonPeriodicActivity::NonPeriodicActivity	(	int	priority,
		const std::string &	name,
		RunnableInterface *	_r = 0
	)

Create an NonPeriodicActivity with a given priority, name and RunnableInterface instance.

Parameters:

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

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Member Function Documentation

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::NonPeriodicActivity::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::ActivityInterface.

virtual Seconds RTT::NonPeriodicActivity::getPeriod

(

)

const [virtual]

Get the periodicity of this activity in Seconds.

Returns:

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

Implements RTT::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::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::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::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::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::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::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 run().

bool RTT::NonPeriodicActivity::run

(

int

)

[inline]

Run another (or self in case of null) task.

This overload is needed to redirect the call of run( 0 ) to the correct function.

Definition at line 105 of file NonPeriodicActivity.hpp.

References RTT::ActivityInterface::run().

virtual bool RTT::NonPeriodicActivity::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

Implements RTT::ActivityInterface.

Reimplemented in RTT::EventDrivenActivity.

virtual bool RTT::NonPeriodicActivity::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::ActivityInterface.

Reimplemented in RTT::EventDrivenActivity.

virtual ThreadInterface* RTT::NonPeriodicActivity::thread

(

)

[virtual]

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

Will not be null.

Implements RTT::ActivityInterface.

virtual bool RTT::NonPeriodicActivity::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.

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.

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

• rtt/NonPeriodicActivity.hpp