RTC::ExecutionContextBase Class Reference

A base class for ExecutionContext. More...

#include <ExecutionContextBase.h>

Inheritance diagram for RTC::ExecutionContextBase:

Collaboration diagram for RTC::ExecutionContextBase:

Public Member Functions
	ExecutionContextBase (const char *name)
	Virtual Destructor. More...
virtual	~ExecutionContextBase (void)
	Virtual Destructor. More...
virtual void	init (coil::Properties &props)
	Initialize the ExecutionContext. More...
virtual RTC::ReturnCode_t	bindComponent (RTC::RTObject_impl *rtc)
	Bind the component. More...
CORBA::Boolean	isRunning ()
	Check for ExecutionContext running state. More...
RTC::ReturnCode_t	start (void)
	Start the ExecutionContext. More...
virtual RTC::ReturnCode_t	stop (void)
	Stop the ExecutionContext. More...
double	getRate (void) const
	Get execution rate(Hz) of ExecutionContext. More...
coil::TimeValue	getPeriod (void) const
RTC::ReturnCode_t	setRate (double rate)
	Set execution rate(Hz) of ExecutionContext. More...
RTC::ReturnCode_t	addComponent (RTC::LightweightRTObject_ptr comp)
	Add an RT-component. More...
RTC::ReturnCode_t	removeComponent (RTC::LightweightRTObject_ptr comp)
	Remove the RT-Component from participant list. More...
RTC::ReturnCode_t	activateComponent (RTC::LightweightRTObject_ptr comp)
	Activate an RT-component. More...
RTC::ReturnCode_t	deactivateComponent (RTC::LightweightRTObject_ptr comp)
	Deactivate an RT-component. More...
RTC::ReturnCode_t	resetComponent (RTC::LightweightRTObject_ptr comp)
	Reset the RT-component. More...
RTC::LifeCycleState	getComponentState (RTC::LightweightRTObject_ptr comp)
	Get RT-component's state. More...
const char *	getStateString (RTC::LifeCycleState state)
RTC::ExecutionKind	getKind (void) const
	Get the ExecutionKind. More...
RTC::ExecutionContextProfile *	getProfile (void)
	Getting Profile. More...
void	setObjRef (RTC::ExecutionContextService_ptr ec_ptr)
	Get the reference to the CORBA object. More...
RTC::ExecutionContextService_ptr	getObjRef (void) const
const char *	getKindString (RTC::ExecutionKind kind) const
	Converting ExecutionKind enum to string. More...
RTC::ReturnCode_t	setKind (RTC::ExecutionKind kind)
	Set the ExecutionKind. More...
RTC::ReturnCode_t	setOwner (RTC::LightweightRTObject_ptr comp)
	Setting owner component of the execution context. More...
const RTC::RTObject_ptr	getOwner () const
	Getting a reference of the owner component. More...
const RTC::RTCList &	getComponentList () const
	Getting participant RTC list. More...
void	setProperties (coil::Properties &props)
	Setting Properties. More...
const coil::Properties	getProperties () const
	Setting Properties. More...
const RTC::ExecutionContextProfile &	getProfile (void) const
	Getting Profile. More...
bool	isAllCurrentState (RTC::LifeCycleState state)
bool	isAllNextState (RTC::LifeCycleState state)
bool	isOneOfCurrentState (RTC::LifeCycleState state)
bool	isOneOfNextState (RTC::LifeCycleState state)
void	invokeWorker ()
void	invokeWorkerPreDo ()
void	invokeWorkerDo ()
void	invokeWorkerPostDo ()

Protected Member Functions
virtual bool	onIsRunning (bool running)
virtual RTC::ReturnCode_t	onStarting ()
virtual RTC::ReturnCode_t	onStarted ()
virtual RTC::ReturnCode_t	onStopping ()
virtual RTC::ReturnCode_t	onStopped ()
virtual double	onGetRate (double rate) const
virtual double	onSettingRate (double rate)
virtual RTC::ReturnCode_t	onSetRate (double rate)
virtual RTC::ReturnCode_t	onAddingComponent (RTC::LightweightRTObject_ptr rtobj)
virtual RTC::ReturnCode_t	onAddedComponent (RTC::LightweightRTObject_ptr rtobj)
virtual RTC::ReturnCode_t	onRemovingComponent (RTC::LightweightRTObject_ptr rtobj)
virtual RTC::ReturnCode_t	onRemovedComponent (RTC::LightweightRTObject_ptr rtobj)
virtual RTC::ReturnCode_t	onActivating (RTC::LightweightRTObject_ptr comp)
virtual RTC::ReturnCode_t	onWaitingActivated (RTC_impl::RTObjectStateMachine *comp, long int count)
virtual RTC::ReturnCode_t	onActivated (RTC_impl::RTObjectStateMachine *comp, long int count)
virtual RTC::ReturnCode_t	onDeactivating (RTC::LightweightRTObject_ptr comp)
virtual RTC::ReturnCode_t	onWaitingDeactivated (RTC_impl::RTObjectStateMachine *comp, long int count)
virtual RTC::ReturnCode_t	onDeactivated (RTC_impl::RTObjectStateMachine *comp, long int count)
virtual RTC::ReturnCode_t	onResetting (RTC::LightweightRTObject_ptr comp)
virtual RTC::ReturnCode_t	onWaitingReset (RTC_impl::RTObjectStateMachine *comp, long int count)
virtual RTC::ReturnCode_t	onReset (RTC_impl::RTObjectStateMachine *comp, long int count)
virtual RTC::LifeCycleState	onGetComponentState (RTC::LifeCycleState state)
virtual RTC::ExecutionKind	onGetKind (RTC::ExecutionKind kind) const
virtual RTC::ExecutionContextProfile *	onGetProfile (RTC::ExecutionContextProfile *&profile)

Protected Attributes
RTC::Logger	rtclog
RTC_impl::ExecutionContextWorker	m_worker
RTC_impl::ExecutionContextProfile	m_profile
coil::TimeValue	m_activationTimeout
coil::TimeValue	m_deactivationTimeout
coil::TimeValue	m_resetTimeout
bool	m_syncActivation
bool	m_syncDeactivation
bool	m_syncReset

Detailed Description

A base class for ExecutionContext.

A base class of ExecutionContext.

Since

0.4.0

Constructor & Destructor Documentation

RTC::ExecutionContextBase::ExecutionContextBase

(

const char *

name

)

Virtual Destructor.

Virtual Destructor

virtual RTC::ExecutionContextBase::~ExecutionContextBase ( void  )

virtual

Virtual Destructor.

Virtual Destructor

Member Function Documentation

RTC::ReturnCode_t RTC::ExecutionContextBase::activateComponent

(

RTC::LightweightRTObject_ptr

comp

)

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

RTC::ReturnCode_t RTC::ExecutionContextBase::addComponent

(

RTC::LightweightRTObject_ptr

comp

)

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::ExecutionContextBase::bindComponent ( RTC::RTObject_impl *  rtc )

virtual

Bind the component.

Bind the component.

RTC::ReturnCode_t RTC::ExecutionContextBase::deactivateComponent

(

RTC::LightweightRTObject_ptr

comp

)

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

const RTC::RTCList& RTC::ExecutionContextBase::getComponentList

(

)

const

Getting participant RTC list.

This function returns a list of participant RTC of the execution context.

Returns

Participants RTC list

RTC::LifeCycleState RTC::ExecutionContextBase::getComponentState

(

RTC::LightweightRTObject_ptr

comp

)

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)

RTC::ExecutionKind RTC::ExecutionContextBase::getKind

(

void

)

const

Get the ExecutionKind.

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

Returns

ExecutionKind

const char* RTC::ExecutionContextBase::getKindString

(

RTC::ExecutionKind

kind

)

const

Converting ExecutionKind enum to string.

This function converts enumeration (PERIODIC, EVENT_DRIVEN, OTHER) defined in RTC::ExecutionKind to string.

Parameters

kind	ExecutionKind

Returns

String of ExecutionKind

RTC::ExecutionContextService_ptr RTC::ExecutionContextBase::getObjRef

(

void

)

const

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

Returns

The reference to CORBA object

const RTC::RTObject_ptr RTC::ExecutionContextBase::getOwner

(

)

const

Getting a reference of the owner component.

This function returns a reference of the owner RT-Component of this execution context

Returns

a reference of the owner RT-Component

coil::TimeValue RTC::ExecutionContextBase::getPeriod

(

void

)

const

RTC::ExecutionContextProfile* RTC::ExecutionContextBase::getProfile

(

void

)

Getting Profile.

This function gets RTC::ExecutionContextProfile. The ownership of the obtained ExecutionContextProfile is given to caller. The caller should release obtained object when it is unneccessary anymore.

Returns

RTC::ExecutionContextProfile

const RTC::ExecutionContextProfile& RTC::ExecutionContextBase::getProfile

(

void

)

const

Getting Profile.

This function gets RTC::ExecutionContextProfile.

Returns

RTC::ExecutionContextProfile

const coil::Properties RTC::ExecutionContextBase::getProperties

(

)

const

Setting Properties.

This function sets ExecutionContextProfile::properties by coil::Properties.

Parameters

props

Properties to be set to ExecutionContextProfile::properties.

double RTC::ExecutionContextBase::getRate

(

void

)

const

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)

const char* RTC::ExecutionContextBase::getStateString

(

RTC::LifeCycleState

state

)

virtual void RTC::ExecutionContextBase::init ( coil::Properties &  props )

virtual

Initialize the ExecutionContext.

This operation initialize the ExecutionContext

Reimplemented in RTC_exp::PeriodicExecutionContext.

void RTC::ExecutionContextBase::invokeWorker ( )

inline

void RTC::ExecutionContextBase::invokeWorkerDo ( )

inline

void RTC::ExecutionContextBase::invokeWorkerPostDo ( )

inline

void RTC::ExecutionContextBase::invokeWorkerPreDo ( )

inline

bool RTC::ExecutionContextBase::isAllCurrentState ( RTC::LifeCycleState  state )

inline

bool RTC::ExecutionContextBase::isAllNextState ( RTC::LifeCycleState  state )

inline

bool RTC::ExecutionContextBase::isOneOfCurrentState ( RTC::LifeCycleState  state )

inline

bool RTC::ExecutionContextBase::isOneOfNextState ( RTC::LifeCycleState  state )

inline

CORBA::Boolean RTC::ExecutionContextBase::isRunning

(

)

Check for ExecutionContext running state.

This operation shall return true if the context is in the Running state. After calling the start() of this class, this function returns true, after calling to stop function of it, this function returns false.

Returns

Working status (Running:true、Stopped:false)

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onActivated ( RTC_impl::RTObjectStateMachine *  comp, long int  count  )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onActivating ( RTC::LightweightRTObject_ptr  comp )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onAddedComponent ( RTC::LightweightRTObject_ptr  rtobj )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext, RTC::ExtTrigExecutionContext, and RTC::OpenHRPExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onAddingComponent ( RTC::LightweightRTObject_ptr  rtobj )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onDeactivated ( RTC_impl::RTObjectStateMachine *  comp, long int  count  )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onDeactivating ( RTC::LightweightRTObject_ptr  comp )

inlineprotectedvirtual

virtual RTC::LifeCycleState RTC::ExecutionContextBase::onGetComponentState ( RTC::LifeCycleState  state )

inlineprotectedvirtual

virtual RTC::ExecutionKind RTC::ExecutionContextBase::onGetKind ( RTC::ExecutionKind  kind ) const

inlineprotectedvirtual

virtual RTC::ExecutionContextProfile* RTC::ExecutionContextBase::onGetProfile ( RTC::ExecutionContextProfile *&  profile )

inlineprotectedvirtual

virtual double RTC::ExecutionContextBase::onGetRate ( double  rate ) const

inlineprotectedvirtual

virtual bool RTC::ExecutionContextBase::onIsRunning ( bool  running )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onRemovedComponent ( RTC::LightweightRTObject_ptr  rtobj )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext, RTC::ExtTrigExecutionContext, and RTC::OpenHRPExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onRemovingComponent ( RTC::LightweightRTObject_ptr  rtobj )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onReset ( RTC_impl::RTObjectStateMachine *  comp, long int  count  )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onResetting ( RTC::LightweightRTObject_ptr  comp )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onSetRate ( double  rate )

inlineprotectedvirtual

virtual double RTC::ExecutionContextBase::onSettingRate ( double  rate )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onStarted ( )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext, and RTC::ExtTrigExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onStarting ( )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onStopped ( )

inlineprotectedvirtual

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onStopping ( )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onWaitingActivated ( RTC_impl::RTObjectStateMachine *  comp, long int  count  )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext, and RTC::ExtTrigExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onWaitingDeactivated ( RTC_impl::RTObjectStateMachine *  comp, long int  count  )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext, and RTC::ExtTrigExecutionContext.

virtual RTC::ReturnCode_t RTC::ExecutionContextBase::onWaitingReset ( RTC_impl::RTObjectStateMachine *  comp, long int  count  )

inlineprotectedvirtual

Reimplemented in RTC_exp::PeriodicExecutionContext, and RTC::ExtTrigExecutionContext.

RTC::ReturnCode_t RTC::ExecutionContextBase::removeComponent

(

RTC::LightweightRTObject_ptr

comp

)

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

RTC::ReturnCode_t RTC::ExecutionContextBase::resetComponent

(

RTC::LightweightRTObject_ptr

comp

)

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

RTC::ReturnCode_t RTC::ExecutionContextBase::setKind

(

RTC::ExecutionKind

kind

)

Set the ExecutionKind.

This operation sets the kind of the execution context.

Parameters

kind	ExecutionKind

void RTC::ExecutionContextBase::setObjRef

(

RTC::ExecutionContextService_ptr

ec_ptr

)

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

RTC::ReturnCode_t RTC::ExecutionContextBase::setOwner

(

RTC::LightweightRTObject_ptr

comp

)

Setting owner component of the execution context.

This function sets an RT-Component to be owner of the execution context.

Parameters

comp	an owner RT-Component of this execution context

Returns

The return code of ReturnCode_t type

void RTC::ExecutionContextBase::setProperties

(

coil::Properties &

props

)

Setting Properties.

This function sets ExecutionContextProfile::properties by coil::Properties.

Parameters

props

Properties to be set to ExecutionContextProfile::properties.

RTC::ReturnCode_t RTC::ExecutionContextBase::setRate

(

double

rate

)

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 RTC_OK: Succeed BAD_PARAMETER: Invalid value. The value might be negative.

RTC::ReturnCode_t RTC::ExecutionContextBase::start

(

void

)

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 RTC::ReturnCode_t RTC::ExecutionContextBase::stop ( void  )

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.

Returns

The return code of ReturnCode_t type

Reimplemented in RTC_exp::PeriodicExecutionContext, RTC::ExtTrigExecutionContext, and RTC::OpenHRPExecutionContext.

Member Data Documentation

coil::TimeValue RTC::ExecutionContextBase::m_activationTimeout

protected

coil::TimeValue RTC::ExecutionContextBase::m_deactivationTimeout

protected

RTC_impl::ExecutionContextProfile RTC::ExecutionContextBase::m_profile

protected

coil::TimeValue RTC::ExecutionContextBase::m_resetTimeout

protected

bool RTC::ExecutionContextBase::m_syncActivation

protected

bool RTC::ExecutionContextBase::m_syncDeactivation

protected

bool RTC::ExecutionContextBase::m_syncReset

protected

RTC_impl::ExecutionContextWorker RTC::ExecutionContextBase::m_worker

protected

RTC::Logger RTC::ExecutionContextBase::rtclog

mutableprotected

---

The documentation for this class was generated from the following file:

• ExecutionContextBase.h