Configurator Class Reference

#include <rtt/Configurator.hpp>

Inheritance diagram for Configurator:

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 61 of file Configurator.hpp.


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 ()
	See also: RunnableInterface::initialize()
void	step ()
	See also: RunnableInterface::step()
void	finalize ()
	See also: RunnableInterface::finalize()
Protected Member Functions
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.
void	init ()
Protected Attributes
ConfigurationInterface *	mtarget
bool	status
	Flag to save status of the target.
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.
TimerThreadPtr	thread_
	The thread which runs this activity.

Constructor & Destructor Documentation

Configurator ( double period ) [inline]

Creates a Configurator with configuration period of period.

Parameters:

period

The period between each configuration step.

Definition at line 71 of file Configurator.hpp.

References RTT::OS::LowestPriority.

Member Function Documentation

bool 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 83 of file Configurator.hpp.

References TimeService::getTicks(), TimeService::Instance(), Configurator::mtarget, TimeService::secondsSince(), PeriodicActivity::start(), Configurator::status, and PeriodicActivity::stop().

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

Run exclusively this RunnableInterface.

Parameters:

The RunnableInterface to run exclusively.

Returns:: true if succeeded, false otherwise

Implements ActivityInterface.

Definition at line 101 of file PeriodicActivity.cpp.

References PeriodicActivity::isRunning(), and PeriodicActivity::runner.

bool 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 ActivityInterface.

Reimplemented in SimulationActivity.

Definition at line 113 of file PeriodicActivity.cpp.

References PeriodicActivity::active, PeriodicActivity::finalize(), PeriodicActivity::initialize(), PeriodicActivity::isActive(), PeriodicActivity::running, and PeriodicActivity::thread_.

Referenced by Configurator::configure().

bool 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.

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 ActivityInterface.

Reimplemented in SimulationActivity.

Definition at line 181 of file PeriodicActivity.cpp.

bool trigger ( ) [virtual, inherited]

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.

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 ActivityInterface.

Definition at line 186 of file PeriodicActivity.cpp.

bool 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 ActivityInterface.

Definition at line 144 of file PeriodicActivity.cpp.

References PeriodicActivity::active, PeriodicActivity::finalize(), PeriodicActivity::isActive(), PeriodicActivity::running, and PeriodicActivity::thread_.

Referenced by Configurator::configure(), PeriodicActivity::~PeriodicActivity(), and SimulationActivity::~SimulationActivity().

bool 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 ActivityInterface.

Definition at line 159 of file PeriodicActivity.cpp.

References PeriodicActivity::running.

Referenced by PeriodicActivity::run().

bool 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.