PeriodicActivity Class Reference
[Activity (thread) classes.]

#include <rtt/PeriodicActivity.hpp>

Inheritance diagram for PeriodicActivity:

Detailed Description

A PeriodicActivity is the general implementation of a Activity which has (realtime) periodic constraints.

A PeriodicActivity is executed in a TimerThread. Multiple PeriodicActivities having the same priority and periodicity will be executed in the same TimerThread one after the other.

It will execute a RunnableInterface, or the equivalent methods in it's own interface when none is given. When initialize() returns false, it will abort start(). If the PeriodicActivity is stop()'ed, finalize() is called in the calling thread of stop().

Definition at line 69 of file PeriodicActivity.hpp.


Public Member Functions
	PeriodicActivity (int priority, Seconds period, RunnableInterface *r=0)
	PeriodicActivity (int scheduler, int priority, Seconds period, RunnableInterface *r=0)
	PeriodicActivity (TimerThreadPtr thread, RunnableInterface *r=0)
	PeriodicActivity (Seconds period, TimerThreadPtr thread, RunnableInterface *r=0)
	PeriodicActivity (secs sec, nsecs nsec, TimerThreadPtr thread, RunnableInterface *r=0)
virtual	~PeriodicActivity ()
	Stops and terminates a PeriodicActivity.
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.
virtual bool	initialize ()
	See also: RunnableInterface::initialize()
virtual void	step ()
	See also: RunnableInterface::step()
virtual void	finalize ()
	See also: RunnableInterface::finalize()
Protected Member Functions
void	init ()
Protected Attributes
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

PeriodicActivity	(	int	priority,
		Seconds	period,
		RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given priority and period. The default scheduler for PeriodicActivity objects is ORO_SCHED_RT.

Parameters:

	priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
	period	The periodicity of the PeriodicActivity
	r	The optional RunnableInterface to run exclusively within this Activity

Definition at line 51 of file PeriodicActivity.cpp.

References PeriodicActivity::init().

PeriodicActivity	(	int	scheduler,
		int	priority,
		Seconds	period,
		RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given scheduler type, priority and period.

Parameters:

	scheduler	The scheduler in which the activitie's thread must run. Use ORO_SCHED_OTHER or ORO_SCHED_RT.
	priority	The priority of this activity. A lookup will be done to locate a suitable TimerThread with the same priority. If it exists and it has the same period, this activity will be executed in that thread. Otherwise, a new TimerThread is created.
	period	The periodicity of the PeriodicActivity
	r	The optional RunnableInterface to run exclusively within this Activity

Definition at line 58 of file PeriodicActivity.cpp.

References PeriodicActivity::init().

PeriodicActivity	(	TimerThreadPtr	thread,
		RunnableInterface *	r = `0`
	)

Create a Periodic Activity executing in a given thread.

Parameters:

	thread	The thread this Activity will be run in. Both period and priority of this activity will be the same as thread.
	r	The optional RunnableInterface to run exclusively within this Activity

Definition at line 65 of file PeriodicActivity.cpp.

References PeriodicActivity::init().

PeriodicActivity	(	Seconds	period,
		TimerThreadPtr	thread,
		RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters:

	period	The periodicity of the PeriodicActivity
	thread	The thread this Activity will be run in. The given period must be a multiple of the thread's period.
	r	The optional RunnableInterface to run exclusively within this Activity

Definition at line 72 of file PeriodicActivity.cpp.

References PeriodicActivity::init().

PeriodicActivity	(	secs	sec,
		nsecs	nsec,
		TimerThreadPtr	thread,
		RunnableInterface *	r = `0`
	)

Create a Periodic Activity with a given period and thread.

Parameters:

	sec	The periodicity of the PeriodicActivity, seconds partition
	nsec	The periodicity of the PeriodicActivity, nanoseconds partition
	thread	The thread this Activity will be run in. The given period (sec, nsec) must be a multiple of the thread's period.
	r	The optional RunnableInterface to run exclusively within this Activity

Definition at line 79 of file PeriodicActivity.cpp.

References PeriodicActivity::init().

Member Function Documentation

bool run ( RunnableInterface * r ) [virtual]

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]

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]

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]

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]

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]

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]

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.