RTC::PeriodicExecutionContext Class Reference

#include <PeriodicExecutionContext.h>

Inheritance diagram for RTC::PeriodicExecutionContext:

Classes
struct	Comp
	The structure for the component management. More...
class	DFP
	DFP class. More...
class	DFPBase
	DFPBase class. More...
struct	find_comp
	Functor to find the component. More...
class	find_participant
struct	invoke_on_rate_changed
	Functor to invoke on_rate_changed. More...
struct	invoke_on_shutdown
	Functor to invoke on_shutdown. More...
struct	invoke_on_startup
	Functor to invoke on_startup. More...
struct	invoke_worker
	Functor to invoke worker. More...
struct	Worker
	Condition variable class for worker. More...
Public Member Functions
	PeriodicExecutionContext ()
	Default Constructor.
	PeriodicExecutionContext (OpenRTM::DataFlowComponent_ptr owner, double rate=1000.0)
	Constructor.
virtual	~PeriodicExecutionContext (void)
	Destructor.
virtual ExecutionContextService_ptr	getObjRef (void)
	Get the reference to the CORBA object.
virtual int	open (void *args)
	Generate internal activity thread for ExecutionContext.
virtual int	svc (void)
	Thread execution function for ExecutionContext.
virtual int	close (unsigned long flags)
	Thread execution function for ExecutionContext.
virtual CORBA::Boolean	is_running (void) throw (CORBA::SystemException)
	Check for ExecutionContext running state.
virtual ReturnCode_t	start (void) throw (CORBA::SystemException)
	Start the ExecutionContext.
virtual ReturnCode_t	stop (void) throw (CORBA::SystemException)
	Stop the ExecutionContext.
virtual CORBA::Double	get_rate (void) throw (CORBA::SystemException)
	Get execution rate(Hz) of ExecutionContext.
virtual ReturnCode_t	set_rate (CORBA::Double rate) throw (CORBA::SystemException)
	Set execution rate(Hz) of ExecutionContext.
virtual ReturnCode_t	activate_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Activate an RT-component.
virtual ReturnCode_t	deactivate_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Deactivate an RT-component.
virtual ReturnCode_t	reset_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Reset the RT-component.
virtual LifeCycleState	get_component_state (LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Get RT-component's state.
virtual ExecutionKind	get_kind (void) throw (CORBA::SystemException)
	Get the ExecutionKind.
virtual ReturnCode_t	add_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Add an RT-component.
virtual RTC::ReturnCode_t	bindComponent (RTObject_impl *rtc)
	Bind the component.
virtual ReturnCode_t	remove_component (LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Remove the RT-Component from participant list.
virtual ExecutionContextProfile *	get_profile (void) throw (CORBA::SystemException)
	Get the ExecutionContextProfile.
Protected Types
typedef LifeCycleState	ExecContextState
typedef RTC_Utils::StateHolder < ExecContextState >	ECStates
typedef std::vector< Comp > ::iterator	CompItr
Protected Attributes
std::vector< Comp >	m_comps
	List of the participating component.
Logger	rtclog
	Logger stream.
bool	m_running
	The running state of ExecutionContext true: running, false: stopped.
bool	m_svc
	The thread running flag of ExecutionContext.
Worker	m_worker
	A condition variable for external triggered worker.
ExecutionContextProfile	m_profile
	ExecutionContextProfile.
coil::Mutex	m_profileMutex
coil::TimeValue	m_period
	Execution cycle of ExecutionContext.
ExecutionContextService_var	m_ref
	Reference to ExecutionContextService object.
bool	m_nowait
	Flag of ExecutionContext to run immediately (to run without waiting).

Detailed Description

PeriodicExecutionContext class.

Periodic Sampled Data Processing (for the execution cycles) ExecutionContext class

Since:: 0.4.0

Member Typedef Documentation

typedef std::vector<Comp>::iterator RTC::PeriodicExecutionContext::CompItr [protected]

typedef RTC_Utils::StateHolder<ExecContextState> RTC::PeriodicExecutionContext::ECStates [protected]

typedef LifeCycleState RTC::PeriodicExecutionContext::ExecContextState [protected]

Constructor & Destructor Documentation

RTC::PeriodicExecutionContext::PeriodicExecutionContext ( )

Default Constructor.

Default Constructor Set the following items to profile.

kind : PERIODIC
rate : 0.0

RTC::PeriodicExecutionContext::PeriodicExecutionContext	(	OpenRTM::DataFlowComponent_ptr	owner,
		double	rate = `1000.0`
	)

Constructor.

Constructor Set the configuration value to profile.

Parameters:

	owner	The owner of this Executioncontext
	rate	Execution cycle(Hz)(The default value:1000)

virtual RTC::PeriodicExecutionContext::~PeriodicExecutionContext ( void ) [virtual]

Destructor.

Destructor

Member Function Documentation

virtual ReturnCode_t RTC::PeriodicExecutionContext::activate_component ( LightweightRTObject_ptr comp ) throw (CORBA::SystemException) [virtual]

Activate an RT-component.

The given participant RTC is Inactive and is therefore not being invoked according to the execution context’s execution kind. This operation shall cause the RTC to transition to the Active state such that it may subsequently be invoked in this execution context. The callback on_activate shall be called as a result of calling this operation. This operation shall not return until the callback has returned, and shall result in an error if the callback does.

Parameters:

comp

The target RT-Component for activation

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::PeriodicExecutionContext::add_component ( LightweightRTObject_ptr comp ) throw (CORBA::SystemException) [virtual]

Add an RT-component.

The operation causes the given RTC to begin participating in the execution context. The newly added RTC will receive a call to LightweightRTComponent::attach_context and then enter the Inactive state. BAD_PARAMETER will be invoked, if the given RT-Component is null or if the given RT-Component is other than DataFlowComponent.

Parameters:

comp

The target RT-Component for add

Returns:: The return code of ReturnCode_t type

virtual RTC::ReturnCode_t RTC::PeriodicExecutionContext::bindComponent ( RTObject_impl * rtc ) [virtual]

Bind the component.

Parameters:

rtc

RT-Component's instances

Returns:: The return code of ReturnCode_t type

Implements RTC::ExecutionContextBase.

virtual int RTC::PeriodicExecutionContext::close ( unsigned long flags ) [virtual]

Thread execution function for ExecutionContext.

This function is invoked when activity thread for ExecutionContext exits. Deactivate the component object and notify it to manager. This is coil::Task class method's override.

Parameters:

flags

Flag of the close

Returns:: The close result

Reimplemented from coil::Task.

virtual ReturnCode_t RTC::PeriodicExecutionContext::deactivate_component ( LightweightRTObject_ptr comp ) throw (CORBA::SystemException) [virtual]

Deactivate an RT-component.

The given RTC is Active in the execution context. Cause it to transition to the Inactive state such that it will not be subsequently invoked from the context unless and until it is activated again. The callback on_deactivate shall be called as a result of calling this operation. This operation shall not return until the callback has returned, and shall result in an error if the callback does.

Parameters:

comp

The target RT-Component for deactivate

Returns:: The return code of ReturnCode_t type

virtual LifeCycleState RTC::PeriodicExecutionContext::get_component_state ( LightweightRTObject_ptr comp ) throw (CORBA::SystemException) [virtual]

Get RT-component's state.

This operation shall report the LifeCycleState of the given participant RTC. UNKNOWN_STATE will be returned, if the given RT-Component is not inclued in the participant list.

Parameters:

comp

The target RT-Component to get the state

Returns:: The current state of the target RT-Component(LifeCycleState)

virtual ExecutionKind RTC::PeriodicExecutionContext::get_kind ( void ) throw (CORBA::SystemException) [virtual]

Get the ExecutionKind.

This operation shall report the execution kind of the execution context.

Returns:: ExecutionKind

virtual ExecutionContextProfile* RTC::PeriodicExecutionContext::get_profile ( void ) throw (CORBA::SystemException) [virtual]

Get the ExecutionContextProfile.

This operation provides a profile “descriptor” for the execution context.

Returns:: ExecutionContextProfile

virtual CORBA::Double RTC::PeriodicExecutionContext::get_rate ( void ) throw (CORBA::SystemException) [virtual]

Get execution rate(Hz) of ExecutionContext.

This operation shall return the rate (in hertz) at which its Active participating RTCs are being invoked.

Returns:: Execution cycle(Unit:Hz)

virtual ExecutionContextService_ptr RTC::PeriodicExecutionContext::getObjRef ( void ) [inline, virtual]

Get the reference to the CORBA object.

Get the reference to the CORBA object as ExecutioncontextService of this object.

Returns:: The reference to CORBA object

Implements RTC::ExecutionContextBase.

References m_ref.

virtual CORBA::Boolean RTC::PeriodicExecutionContext::is_running ( void ) throw (CORBA::SystemException) [virtual]

Check for ExecutionContext running state.

This operation shall return true if the context is in the Running state. While the context is Running, all Active RTCs participating in the context shall be executed according to the context’s execution kind.

Returns:: Check state function (Running:true、Stopping:false)

virtual int RTC::PeriodicExecutionContext::open ( void * args ) [virtual]

Generate internal activity thread for ExecutionContext.

Generate internal activity thread and run. This is coil::Task class method's override.

Parameters:

args

Usually give 0

Returns:: The generation result

Reimplemented from coil::Task.

virtual ReturnCode_t RTC::PeriodicExecutionContext::remove_component ( LightweightRTObject_ptr comp ) throw (CORBA::SystemException) [virtual]

Remove the RT-Component from participant list.

This operation causes a participant RTC to stop participating in the execution context. The removed RTC will receive a call to LightweightRTComponent::detach_context. BAD_PARAMETER will be returned, if the given RT-Component is not participating in the participant list.

Parameters:

comp

The target RT-Component for delete

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::PeriodicExecutionContext::reset_component ( LightweightRTObject_ptr comp ) throw (CORBA::SystemException) [virtual]

Reset the RT-component.

Attempt to recover the RTC when it is in Error. The ComponentAction::on_reset callback shall be invoked. This operation shall not return until the callback has returned, and shall result in an error if the callback does. If possible, the RTC developer should implement that callback such that the RTC may be returned to a valid state.

Parameters:

comp

The target RT-Component for reset

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::PeriodicExecutionContext::set_rate ( CORBA::Double rate ) throw (CORBA::SystemException) [virtual]

Set execution rate(Hz) of ExecutionContext.

This operation shall set the rate (in hertz) at which this context’s Active participating RTCs are being called. If the execution kind of the context is PERIODIC, a rate change shall result in the invocation of on_rate_changed on any RTCs realizing DataFlowComponentAction that are registered with any RTCs participating in the context.

Parameters:

rate

Execution cycle(Unit:Hz)

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::PeriodicExecutionContext::start ( void ) throw (CORBA::SystemException) [virtual]

Start the ExecutionContext.

Request that the context enter the Running state. Once the state transition occurs, the ComponentAction::on_startup operation will be invoked. An execution context may not be started until the RT-Components that participate in it have been initialized. An execution context may be started and stopped multiple times.

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::PeriodicExecutionContext::stop ( void ) throw (CORBA::SystemException) [virtual]

Stop the ExecutionContext.

Request that the context enter the Stopped state. Once the transition occurs, the ComponentAction::on_shutdown operation will be invoked. An execution context must be stopped before the RT components that participate in it are finalized. An execution context may be started and stopped multiple times.