#include <ExecutionContextWorker.h>

Collaboration diagram for RTC_impl::ExecutionContextWorker:

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

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

void	setECRef (RTC::ExecutionContextService_ptr ref)

RTC::ExecutionContextService_ptr	getECRef ()

CORBA::Boolean	isRunning (void)
	Check for ExecutionContext running state. More...

RTC::ReturnCode_t	start (void)
	Start the ExecutionContext. More...

RTC::ReturnCode_t	stop (void)
	Stop the ExecutionContext. More...

RTC::ReturnCode_t	startThread (void)

RTC::ReturnCode_t	stopThread (void)

RTC::ReturnCode_t	rateChanged ()
	Execution rate of ExecutionContext chnaged. More...

RTC::ReturnCode_t	activateComponent (RTC::LightweightRTObject_ptr comp, RTObjectStateMachine *&rtobj)
	Activate an RT-component. More...

RTC::ReturnCode_t	waitActivateComplete (RTObjectStateMachine *&rtobj, coil::TimeValue timeout=1.0, long int cycle=1000)

RTC::ReturnCode_t	deactivateComponent (RTC::LightweightRTObject_ptr comp, RTObjectStateMachine *&rtobj)
	Deactivate an RT-component. More...

RTC::ReturnCode_t	waitDeactivateComplete (RTObjectStateMachine *&rtobj, coil::TimeValue timeout=1.0, long int cycle=1000)

RTC::ReturnCode_t	resetComponent (RTC::LightweightRTObject_ptr com, RTObjectStateMachine *&rtobj)
	Reset the RT-component. More...

RTC::ReturnCode_t	waitResetComplete (RTObjectStateMachine *&rtobj, coil::TimeValue timeout=1.0, long int cycle=1000)

RTC::LifeCycleState	getComponentState (RTC::LightweightRTObject_ptr comp)
	Get RT-component's state. More...

const char *	getStateString (RTC::LifeCycleState state)

RTC::ReturnCode_t	addComponent (RTC::LightweightRTObject_ptr comp)
	Add an RT-component. More...

RTC::ReturnCode_t	bindComponent (RTC::RTObject_impl *rtc)
	Bind the component. More...

RTC::ReturnCode_t	removeComponent (RTC::LightweightRTObject_ptr comp)
	Remove the RT-Component from participant list. More...

RTObjectStateMachine *	findComponent (RTC::LightweightRTObject_ptr comp)

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 ()

void	updateComponentList ()
	Updating component list. More...

Protected Types
typedef std::vector< RTC_impl::RTObjectStateMachine * >::iterator	CompItr

Protected Attributes
RTC::Logger	rtclog
	Logger stream. More...

RTC::ExecutionContextService_var	m_ref

bool	m_running
	The running state of ExecutionContext true: running, false: stopped. More...

std::vector< RTC_impl::RTObjectStateMachine * >	m_comps
	List of the participating component. More...

coil::Mutex	m_mutex

std::vector< RTC_impl::RTObjectStateMachine * >	m_addedComps

coil::Mutex	m_addedMutex

std::vector< RTC_impl::RTObjectStateMachine * >	m_removedComps

coil::Mutex	m_removedMutex

Detailed Description

ExecutionContextWorker class.

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

Since: 0.4.0

Member Typedef Documentation

typedef std::vector<RTC_impl::RTObjectStateMachine*>::iterator RTC_impl::ExecutionContextWorker::CompItr

protected

Constructor & Destructor Documentation

RTC_impl::ExecutionContextWorker::ExecutionContextWorker ( )

Default Constructor.

Default Constructor Set the following items to profile.

kind : PERIODIC
rate : 0.0

virtual RTC_impl::ExecutionContextWorker::~ExecutionContextWorker ( void )

virtual

Destructor.

Destructor

Member Function Documentation

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::activateComponent	(	RTC::LightweightRTObject_ptr	comp,
		RTObjectStateMachine *&	rtobj
	)

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_impl::ExecutionContextWorker::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.

When right after this operation is called, since other RTCs might being called their callbacks of the StateMachine, at first the RTC is added into the "Participants: m_addedComps." After RTCs callbacks are called, updateComponentList() function is invoked and RTCs are officially a member of the worker.

Parameters

comp	The target RT-Component for add

Returns: The return code of ReturnCode_t type

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::bindComponent ( RTC::RTObject_impl * rtc )

Bind the component.

This operation bind a RT-Component into owned context. Given argument RTObject_impl is the owner of the EC, and internally RTObject's bindContext() member function is called and obtain ec_id. The ec_id must be smaller than ECOTHER_OFFSET. After that proxy of RTObject RTObjectStateMachine is created, and it is added to the component list.

Parameters

rtc	RT-Component's instances

Returns: The return code of ReturnCode_t type

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::deactivateComponent	(	RTC::LightweightRTObject_ptr	comp,
		RTObjectStateMachine *&	rtobj
	)

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

RTObjectStateMachine* RTC_impl::ExecutionContextWorker::findComponent ( RTC::LightweightRTObject_ptr comp )

RTC::LifeCycleState RTC_impl::ExecutionContextWorker::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::ExecutionContextService_ptr RTC_impl::ExecutionContextWorker::getECRef ( )

const char* RTC_impl::ExecutionContextWorker::getStateString ( RTC::LifeCycleState state )

inline

void RTC_impl::ExecutionContextWorker::invokeWorker ( )

void RTC_impl::ExecutionContextWorker::invokeWorkerDo ( )

void RTC_impl::ExecutionContextWorker::invokeWorkerPostDo ( )

void RTC_impl::ExecutionContextWorker::invokeWorkerPreDo ( )

bool RTC_impl::ExecutionContextWorker::isAllCurrentState ( RTC::LifeCycleState state )

bool RTC_impl::ExecutionContextWorker::isAllNextState ( RTC::LifeCycleState state )

bool RTC_impl::ExecutionContextWorker::isOneOfCurrentState ( RTC::LifeCycleState state )

bool RTC_impl::ExecutionContextWorker::isOneOfNextState ( RTC::LifeCycleState state )

CORBA::Boolean RTC_impl::ExecutionContextWorker::isRunning ( void )

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)

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::rateChanged ( )

Execution rate of ExecutionContext chnaged.

A call back for execution rate chang when ExecutionContext's execution rate. If set_rate() operation is called, ExecutionContextProfile::setRate() will be called, execution rate in the profile will be updated, and RTObjectStateMachine::onRateChagned() will be called with this member function.

Returns: The return code of ReturnCode_t type

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::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_impl::ExecutionContextWorker::resetComponent	(	RTC::LightweightRTObject_ptr	com,
		RTObjectStateMachine *&	rtobj
	)

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

void RTC_impl::ExecutionContextWorker::setECRef ( RTC::ExecutionContextService_ptr ref )

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::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

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::startThread ( void )

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::stop ( void )

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

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::stopThread ( void )

void RTC_impl::ExecutionContextWorker::updateComponentList ( )

Updating component list.

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::waitActivateComplete	(	RTObjectStateMachine *&	rtobj,
		coil::TimeValue	timeout = `1.0`,
		long int	cycle = `1000`
	)

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::waitDeactivateComplete	(	RTObjectStateMachine *&	rtobj,
		coil::TimeValue	timeout = `1.0`,
		long int	cycle = `1000`
	)

RTC::ReturnCode_t RTC_impl::ExecutionContextWorker::waitResetComplete	(	RTObjectStateMachine *&	rtobj,
		coil::TimeValue	timeout = `1.0`,
		long int	cycle = `1000`
	)

Member Data Documentation

std::vector<RTC_impl::RTObjectStateMachine*> RTC_impl::ExecutionContextWorker::m_addedComps

protected

coil::Mutex RTC_impl::ExecutionContextWorker::m_addedMutex

mutableprotected

std::vector<RTC_impl::RTObjectStateMachine*> RTC_impl::ExecutionContextWorker::m_comps

protected

List of the participating component.

coil::Mutex RTC_impl::ExecutionContextWorker::m_mutex

mutableprotected

RTC::ExecutionContextService_var RTC_impl::ExecutionContextWorker::m_ref

protected

std::vector<RTC_impl::RTObjectStateMachine*> RTC_impl::ExecutionContextWorker::m_removedComps

protected

coil::Mutex RTC_impl::ExecutionContextWorker::m_removedMutex

mutableprotected

bool RTC_impl::ExecutionContextWorker::m_running

protected

The running state of ExecutionContext true: running, false: stopped.

RTC::Logger RTC_impl::ExecutionContextWorker::rtclog

protected

Logger stream.

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

ExecutionContextWorker.h

Public Member Functions

Protected Types

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation