OpenRTM-aist
1.2.1
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PeriodicExecutionContext class. More...
#include <PeriodicExecutionContext.h>
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... | |
PeriodicExecutionContext class.
Periodic Sampled Data Processing (for the execution cycles) ExecutionContext class
RTC_exp::PeriodicExecutionContext::PeriodicExecutionContext | ( | ) |
Default Constructor.
Default Constructor Set the following items to profile.
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Destructor.
Destructor
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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.
comp | The target RT-Component for activation |
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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.
comp | The target RT-Component for add |
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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.
flags | Flag of the close |
Reimplemented from coil::Task.
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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.
comp | The target RT-Component for deactivate |
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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.
comp | The target RT-Component to get the state |
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Get the ExecutionKind.
This operation shall report the execution kind of the execution context.
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Get the ExecutionContextProfile.
This operation provides a profile “descriptor” for the execution context.
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Get execution rate(Hz) of ExecutionContext.
This operation shall return the rate (in hertz) at which its Active participating RTCs are being invoked.
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Initialize the ExecutionContext.
This operation initialize the ExecutionContext
Reimplemented from RTC::ExecutionContextBase.
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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.
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onActivated() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onAddedComponent() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onDeactivated() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onRemovedComponent() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onReset() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onStarted() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onStopping() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onWaitingActivated() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onWaitingDeactivated() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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onWaitingReset() template function
Reimplemented from RTC::ExecutionContextBase.
Referenced by getProperty().
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Generate internal activity thread for ExecutionContext.
Generate internal activity thread and run. This is coil::Task class method's override.
args | Usually give 0 |
Reimplemented from coil::Task.
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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.
comp | The target RT-Component for delete |
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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.
comp | The target RT-Component for reset |
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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.
rate | Execution cycle(Unit:Hz) |
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setting CPU affinity from given properties
Referenced by getProperty().
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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.
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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.
Reimplemented from RTC::ExecutionContextBase.
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Thread execution function for ExecutionContext.
Thread execution function for ExecutionContext. Invoke the registered components operation.
Reimplemented from coil::Task.
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References m_svc, and m_svcmutex.
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CPU affinity mask list.
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Flag of ExecutionContext to run immediately (to run without waiting)
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The thread running flag of ExecutionContext.
Referenced by threadRunning().
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Referenced by threadRunning().
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A condition variable for external triggered worker.
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Logger stream.