#include <rtt/ExecutionEngine.hpp>
Any function executing in the same execution engine is guaranteed to be thread-safe with respect to other functions executing in the same execution engine.
The ExecutionEngine bundles a CommandProcessor, ProgramProcessor, StateMachineProcessor and EventProcessor.
Definition at line 86 of file ExecutionEngine.hpp.
Public Member Functions | |
| ExecutionEngine (TaskCore *owner=0) | |
| Create an execution engine with a CommandProcessor, ProgramProcessor and StateMachineProcessor. | |
| ~ExecutionEngine () | |
| bool | activate () |
| Run the Execution Engine's processors, but not the updateHook() functions of the TaskCores. | |
| bool | start () |
| Run the Execution Engine's processors and the updateHook() functions of the TaskCores. | |
| bool | stop () |
| Stop the processors and all TaskCores. | |
| virtual bool | initialize () |
| The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started. | |
| virtual void | step () |
| Executes (in that order) programs, state machines, commands, events and the TaskCore's update() function. | |
| virtual bool | breakLoop () |
| This method is called by the framework to break out of the loop() method. | |
| virtual void | finalize () |
| The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped. | |
| virtual void | setActivity (ActivityInterface *t) |
| TaskCore * | getParent () |
| The TaskCore which created this ExecutionEngine. | |
| virtual void | addChild (TaskCore *tc) |
| Add a TaskCore to execute. | |
| virtual void | removeChild (TaskCore *tc) |
| Remove a TaskCore from execution. | |
| TaskCore * | getTaskCore () const |
| Returns the owner of this execution engine. | |
| CommandProcessor * | commands () const |
| Return the CommandProcessor of this engine. | |
| ProgramProcessor * | programs () const |
| Return the ProgramProcessor of this engine. | |
| StateMachineProcessor * | states () const |
| Return the StateMachineProcessor of this engine. | |
| EventProcessor * | events () const |
| Return the EventProcessor of this engine. | |
| virtual void | setCommandProcessor (CommandProcessor *c) |
| Install a new CommandProcessor. | |
| virtual void | setProgramProcessor (ProgramProcessor *p) |
| Install a new ProgramProcessor. | |
| virtual void | setStateMachineProcessor (StateMachineProcessor *s) |
| Install a new StateMachineProcessor. | |
| virtual void | setEventProcessor (EventProcessor *e) |
| Install a new EventProcessor. | |
| virtual void | loop () |
| The method that will be executed once when this class is run in a non periodic thread. | |
| ThreadInterface * | getThread () const |
| Get the thread this object is run in. | |
| virtual void | setThread (ThreadInterface *t) |
| Set the thread this object will be run in. | |
Protected Types | |
| enum | EngineState { Stopped, Activating, Active, Running } |
Protected Member Functions | |
| void | setup () |
| Install new Processors. | |
| bool | startContexts () |
| Call all necessary hook functions of parent and children TaskContexts. | |
Protected Attributes | |
| TaskCore * | taskc |
| The parent or 'owner' of this ExecutionEngine, may be null. | |
| EngineState | estate |
| The ExecutionEngine keeps a state of its own which is synchronised with the parent and child TaskCore states. | |
| RunnableInterface * | cproc |
| We store the Processors as RunnableInterface pointers, and dynamic_cast them back to the correct type. | |
| RunnableInterface * | pproc |
| RunnableInterface * | smproc |
| RunnableInterface * | eproc |
| std::vector< TaskCore * > | children |
| All tasks which execute in this ExecutionEngine. | |
enum EngineState [protected] |
| ExecutionEngine | ( | TaskCore * | owner = 0 |
) |
Create an execution engine with a CommandProcessor, ProgramProcessor and StateMachineProcessor.
| owner | The TaskCore in which this execution engine executes. It may be null, in that case no TaskCore owns this execution engine. |
Definition at line 56 of file ExecutionEngine.cpp.
References ExecutionEngine::setup().
| bool breakLoop | ( | ) | [virtual] |
This method is called by the framework to break out of the loop() method.
Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.
Reimplemented from RunnableInterface.
Definition at line 337 of file ExecutionEngine.cpp.
| void setCommandProcessor | ( | CommandProcessor * | c | ) | [virtual] |
Install a new CommandProcessor.
| c | becomes owned by this object and is returned in commands(). |
Definition at line 401 of file ExecutionEngine.cpp.
References ExecutionEngine::cproc.
| void setProgramProcessor | ( | ProgramProcessor * | p | ) | [virtual] |
Install a new ProgramProcessor.
| p | becomes owned by this object and is returned in programs(). |
Definition at line 408 of file ExecutionEngine.cpp.
References ExecutionEngine::pproc.
| void setStateMachineProcessor | ( | StateMachineProcessor * | s | ) | [virtual] |
Install a new StateMachineProcessor.
| s | becomes owned by this object and is returned in states(). |
Definition at line 415 of file ExecutionEngine.cpp.
References ExecutionEngine::smproc.
| void setEventProcessor | ( | EventProcessor * | e | ) | [virtual] |
Install a new EventProcessor.
| e | becomes owned by this object and is returned in events(). |
Definition at line 422 of file ExecutionEngine.cpp.
References ExecutionEngine::eproc.
| void loop | ( | ) | [virtual, inherited] |
The method that will be executed once when this class is run in a non periodic thread.
The default implementation calls step() once.
Reimplemented in Timer.
Definition at line 60 of file RunnableInterface.cpp.
References RunnableInterface::step().
Referenced by SlaveActivity::execute(), SingleThread::loop(), and NonPeriodicActivity::loop().
| ThreadInterface * getThread | ( | ) | const [inherited] |
Get the thread this object is run in.
Definition at line 69 of file RunnableInterface.cpp.
Referenced by Timer::initialize().
1.5.3