RTT::SimulationActivity Class Reference
[Activity (thread) classes.]
A SimulationActivity is a PeriodicActivity which is used for simulation. More...
#include <rtt/SimulationActivity.hpp>
Public Types | |
|
typedef boost::shared_ptr < ActivityInterface > | shared_ptr |
Public Member Functions | |
| SimulationActivity (Seconds period, RunnableInterface *r=0) | |
| Construct a SimulationActivity with a periodicity period Seconds. | |
| SimulationActivity (secs s, nsecs ns, RunnableInterface *r=0) | |
| Construct a SimulationActivity with a periodicity of s seconds and ns nanoseconds. | |
| virtual bool | start () |
| A simulated activity can be started also if the SimulationThread is not running yet. | |
| virtual bool | execute () |
| When a SimulationActivity is started, it may be executed by the user as well. | |
| virtual | ~SimulationActivity () |
| Destroys this instance. | |
| 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 () |
| virtual bool | run (RunnableInterface *r) |
| Run exclusively this RunnableInterface. | |
Protected Member Functions | |
| 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. | |
Protected Attributes | |
| bool | running |
| State info. | |
| bool | active |
| State info. | |
| TimerThreadPtr | thread_ |
| The thread which runs this activity. | |
| RunnableInterface * | runner |
Friends | |
| class | RunnableInterface |
Detailed Description
A SimulationActivity is a PeriodicActivity which is used for simulation.
They all run in the same thread, which updates the the system clock such that the SimulationActivity appears to run in realtime, while it runs 'as fast as possible'.
They will run in the SimulationThread. See SimulationThread::Instance for setting the smallest activity period in the system.
Definition at line 58 of file SimulationActivity.hpp.
Constructor & Destructor Documentation
| virtual RTT::SimulationActivity::~SimulationActivity | ( | ) | [virtual] |
Destroys this instance.
The Activity is stopped.
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 void RTT::PeriodicActivity::finalize | ( | ) | [virtual, inherited] |
- See also:
- RunnableInterface::finalize()
Reimplemented in RTT::Configurator.
| 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.
| virtual bool RTT::PeriodicActivity::initialize | ( | ) | [virtual, inherited] |
- See also:
- RunnableInterface::initialize()
Reimplemented in RTT::Configurator.
| 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::SimulationActivity::start | ( | ) | [virtual] |
A simulated activity can be started also if the SimulationThread is not running yet.
This allows all tasks to be set ready in advance before the whole simulation is started.
Reimplemented from RTT::PeriodicActivity.
| virtual void RTT::PeriodicActivity::step | ( | ) | [virtual, inherited] |
- See also:
- RunnableInterface::step()
Reimplemented in RTT::Configurator.
| 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:
