#include <PeriodicExecutionContext.h>

Inheritance diagram for RTC_exp::PeriodicExecutionContext:

Collaboration diagram for RTC_exp::PeriodicExecutionContext:

[legend]

Classes
struct	WorkerThreadCtrl
	Condition variable class for worker. More...

Public Member Functions
	PeriodicExecutionContext ()
	Default Constructor. More...

virtual	~PeriodicExecutionContext (void)
	Destructor. More...

virtual void	init (coil::Properties &props)
	Initialize the ExecutionContext. More...

virtual int	open (void *args)
	Generate internal activity thread for ExecutionContext. More...

virtual int	svc (void)
	Thread execution function for ExecutionContext. More...

virtual int	close (unsigned long flags)
	Thread execution function for ExecutionContext. More...

virtual CORBA::Boolean	is_running (void) throw (CORBA::SystemException)
	Check for ExecutionContext running state. More...

virtual RTC::ReturnCode_t	start (void) throw (CORBA::SystemException)
	Start the ExecutionContext. More...

virtual RTC::ReturnCode_t	stop (void) throw (CORBA::SystemException)
	Stop the ExecutionContext. More...

virtual CORBA::Double	get_rate (void) throw (CORBA::SystemException)
	Get execution rate(Hz) of ExecutionContext. More...

virtual RTC::ReturnCode_t	set_rate (CORBA::Double rate) throw (CORBA::SystemException)
	Set execution rate(Hz) of ExecutionContext. More...

virtual RTC::ReturnCode_t	activate_component (RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Activate an RT-component. More...

virtual RTC::ReturnCode_t	deactivate_component (RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Deactivate an RT-component. More...

virtual RTC::ReturnCode_t	reset_component (RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Reset the RT-component. More...

virtual RTC::LifeCycleState	get_component_state (RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Get RT-component's state. More...

virtual RTC::ExecutionKind	get_kind (void) throw (CORBA::SystemException)
	Get the ExecutionKind. More...

virtual RTC::ReturnCode_t	add_component (RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Add an RT-component. More...

virtual RTC::ReturnCode_t	remove_component (RTC::LightweightRTObject_ptr comp) throw (CORBA::SystemException)
	Remove the RT-Component from participant list. More...

virtual RTC::ExecutionContextProfile *	get_profile (void) throw (CORBA::SystemException)
	Get the ExecutionContextProfile. More...

Public Member Functions inherited from RTC::ExecutionContextBase
	ExecutionContextBase (const char *name)
	Virtual Destructor. More...

virtual	~ExecutionContextBase (void)
	Virtual Destructor. 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...

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 ()

Public Member Functions inherited from coil::Task
	Task ()
	Constructor. More...

virtual	~Task ()
	Destructor. More...

virtual void	activate ()
	Create a thread. More...

virtual int	wait (void)
	Waiting for the thread terminate. More...

virtual int	suspend (void)
	Suspending the task. More...

virtual int	resume (void)
	Resuming the suspended task. More...

virtual void	reset ()
	Reset of task count. More...

virtual void	finalize ()
	Finalizing the task. More...

Protected Member Functions
template<class T >
void	getProperty (coil::Properties &prop, const char *key, T &value)

virtual RTC::ReturnCode_t	onStarted ()
	onStarted() template function More...

virtual RTC::ReturnCode_t	onStopping ()
	onStopping() template function More...

virtual RTC::ReturnCode_t	onAddedComponent (RTC::LightweightRTObject_ptr rtobj)
	onAddedComponent() template function More...

virtual RTC::ReturnCode_t	onRemovedComponent (RTC::LightweightRTObject_ptr rtobj)
	onRemovedComponent() template function More...

virtual RTC::ReturnCode_t	onWaitingActivated (RTC_impl::RTObjectStateMachine *comp, long int count)
	onWaitingActivated() template function More...

virtual RTC::ReturnCode_t	onActivated (RTC_impl::RTObjectStateMachine *comp, long int count)
	onActivated() template function More...

virtual RTC::ReturnCode_t	onWaitingDeactivated (RTC_impl::RTObjectStateMachine *comp, long int count)
	onWaitingDeactivated() template function More...

virtual RTC::ReturnCode_t	onDeactivated (RTC_impl::RTObjectStateMachine *comp, long int count)
	onDeactivated() template function More...

virtual RTC::ReturnCode_t	onWaitingReset (RTC_impl::RTObjectStateMachine *comp, long int count)
	onWaitingReset() template function More...

virtual RTC::ReturnCode_t	onReset (RTC_impl::RTObjectStateMachine *comp, long int count)
	onReset() template function More...

virtual void	setCpuAffinity (coil::Properties &props)
	setting CPU affinity from given properties More...

bool	threadRunning ()

Protected Member Functions inherited from RTC::ExecutionContextBase
virtual bool	onIsRunning (bool running)

virtual RTC::ReturnCode_t	onStarting ()

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	onRemovingComponent (RTC::LightweightRTObject_ptr rtobj)

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

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

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

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
	Logger stream. More...

bool	m_svc
	The thread running flag of ExecutionContext. More...

coil::Mutex	m_svcmutex

WorkerThreadCtrl	m_workerthread
	A condition variable for external triggered worker. More...

bool	m_nowait
	Flag of ExecutionContext to run immediately (to run without waiting) More...

coil::CpuMask	m_cpu
	CPU affinity mask list. More...

Protected Attributes inherited from RTC::ExecutionContextBase
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

Additional Inherited Members
Static Public Member Functions inherited from coil::Task
static void *	svc_run (void *args=0)
	Start thread Execution. More...

Detailed Description

PeriodicExecutionContext class.

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

Since: 0.4.0

Constructor & Destructor Documentation

RTC_exp::PeriodicExecutionContext::PeriodicExecutionContext ( )

Default Constructor.

Default Constructor Set the following items to profile.

kind : PERIODIC
rate : 0.0

virtual RTC_exp::PeriodicExecutionContext::~PeriodicExecutionContext ( void )

virtual

Destructor.

Destructor

Member Function Documentation

virtual RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::activate_component	(	RTC::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 RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::add_component	(	RTC::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 int RTC_exp::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 RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::deactivate_component	(	RTC::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 RTC::LifeCycleState RTC_exp::PeriodicExecutionContext::get_component_state	(	RTC::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 RTC::ExecutionKind RTC_exp::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 RTC::ExecutionContextProfile* RTC_exp::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_exp::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)

template<class T >

void RTC_exp::PeriodicExecutionContext::getProperty	(	coil::Properties &	prop,
		const char *	key,
		T &	value
	)

inlineprotected

References coil::Properties::findNode(), onActivated(), onAddedComponent(), onDeactivated(), onRemovedComponent(), onReset(), onStarted(), onStopping(), onWaitingActivated(), onWaitingDeactivated(), onWaitingReset(), setCpuAffinity(), and coil::stringTo().

virtual void RTC_exp::PeriodicExecutionContext::init ( coil::Properties & props )

virtual

Initialize the ExecutionContext.

This operation initialize the ExecutionContext

Reimplemented from RTC::ExecutionContextBase.

virtual CORBA::Boolean RTC_exp::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 RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::onActivated	(	RTC_impl::RTObjectStateMachine *	comp,
		long int	count
	)

protectedvirtual

onActivated() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

virtual RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::onAddedComponent ( RTC::LightweightRTObject_ptr rtobj )

protectedvirtual

onAddedComponent() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

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

protectedvirtual

onDeactivated() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

virtual RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::onRemovedComponent ( RTC::LightweightRTObject_ptr rtobj )

protectedvirtual

onRemovedComponent() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

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

protectedvirtual

onReset() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

virtual RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::onStarted ( )

protectedvirtual

onStarted() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

virtual RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::onStopping ( )

protectedvirtual

onStopping() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

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

protectedvirtual

onWaitingActivated() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

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

protectedvirtual

onWaitingDeactivated() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

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

protectedvirtual

onWaitingReset() template function

Reimplemented from RTC::ExecutionContextBase.

Referenced by getProperty().

virtual int RTC_exp::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 RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::remove_component	(	RTC::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 RTC::ReturnCode_t RTC_exp::PeriodicExecutionContext::reset_component	(	RTC::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 RTC::ReturnCode_t RTC_exp::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 void RTC_exp::PeriodicExecutionContext::setCpuAffinity ( coil::Properties & props )

protectedvirtual

setting CPU affinity from given properties

Referenced by getProperty().

virtual RTC::ReturnCode_t RTC_exp::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 RTC::ReturnCode_t RTC_exp::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.

Returns: The return code of ReturnCode_t type

Reimplemented from RTC::ExecutionContextBase.

virtual int RTC_exp::PeriodicExecutionContext::svc ( void )

virtual

Thread execution function for ExecutionContext.

Thread execution function for ExecutionContext. Invoke the registered components operation.

Returns: The execution result

Reimplemented from coil::Task.

bool RTC_exp::PeriodicExecutionContext::threadRunning ( )

inlineprotected

References m_svc, and m_svcmutex.

Member Data Documentation

coil::CpuMask RTC_exp::PeriodicExecutionContext::m_cpu

protected

CPU affinity mask list.

bool RTC_exp::PeriodicExecutionContext::m_nowait

protected

Flag of ExecutionContext to run immediately (to run without waiting)

bool RTC_exp::PeriodicExecutionContext::m_svc

protected

The thread running flag of ExecutionContext.

Referenced by threadRunning().

coil::Mutex RTC_exp::PeriodicExecutionContext::m_svcmutex

protected

Referenced by threadRunning().

WorkerThreadCtrl RTC_exp::PeriodicExecutionContext::m_workerthread

protected

A condition variable for external triggered worker.

RTC::Logger RTC_exp::PeriodicExecutionContext::rtclog

protected

Logger stream.

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

PeriodicExecutionContext.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation