#include <OpenHRPExecutionContext.h>

Inheritance diagram for RTC::OpenHRPExecutionContext:

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Collaboration diagram for RTC::OpenHRPExecutionContext:

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Public Member Functions
	OpenHRPExecutionContext ()
	Constructor .

	~OpenHRPExecutionContext () override
	Destructor .

void	tick () override
	Move forward one step of ExecutionContext.

CORBA::Boolean	is_running () override
	Check for ExecutionContext running state.

RTC::ReturnCode_t	start () override
	Start the ExecutionContext.

RTC::ReturnCode_t	stop () override
	Stop the ExecutionContext.

CORBA::Double	get_rate () override
	Get execution rate(Hz) of ExecutionContext.

RTC::ReturnCode_t	set_rate (CORBA::Double rate) override
	Set execution rate(Hz) of ExecutionContext.

RTC::ReturnCode_t	activate_component (RTC::LightweightRTObject_ptr comp) override
	Activate an RT-component.

RTC::ReturnCode_t	deactivate_component (RTC::LightweightRTObject_ptr comp) override
	Deactivate an RT-component.

RTC::ReturnCode_t	reset_component (RTC::LightweightRTObject_ptr comp) override
	Reset the RT-component.

RTC::LifeCycleState	get_component_state (RTC::LightweightRTObject_ptr comp) override
	Get RT-component's state.

RTC::ExecutionKind	get_kind () override
	Get the ExecutionKind.

RTC::ReturnCode_t	add_component (RTC::LightweightRTObject_ptr comp) override
	Add an RT-component.

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

RTC::ExecutionContextProfile *	get_profile () override
	Get the ExecutionContextProfile.

Public Member Functions inherited from RTC::ExecutionContextBase
	ExecutionContextBase (const char *name)
	Constructor.

virtual	~ExecutionContextBase ()
	Virtual Destructor.

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

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

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

RTC::ReturnCode_t	start ()
	Start the ExecutionContext.

double	getRate () const
	Get execution rate(Hz) of ExecutionContext.

std::chrono::nanoseconds	getPeriod () const

RTC::ReturnCode_t	setRate (double rate)
	Set execution rate(Hz) of ExecutionContext.

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

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

RTC::ReturnCode_t	activateComponent (RTC::LightweightRTObject_ptr comp)
	Activate an RT-component.

RTC::ReturnCode_t	deactivateComponent (RTC::LightweightRTObject_ptr comp)
	Deactivate an RT-component.

RTC::ReturnCode_t	resetComponent (RTC::LightweightRTObject_ptr comp)
	Reset the RT-component.

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

RTC::ExecutionKind	getKind () const
	Get the ExecutionKind.

RTC::ExecutionContextProfile *	getProfile ()
	Getting Profile.

void	setObjRef (RTC::ExecutionContextService_ptr ec_ptr)
	Get the reference to the CORBA object.

RTC::ExecutionContextService_ptr	getObjRef () const

RTC::ReturnCode_t	setKind (RTC::ExecutionKind kind)
	Set the ExecutionKind.

RTC::ReturnCode_t	setOwner (RTC::LightweightRTObject_ptr comp)
	Setting owner component of the execution context.

RTC::RTObject_ptr	getOwner () const
	Getting a reference of the owner component.

const RTC::RTCList &	getComponentList () const
	Getting participant RTC list.

void	setProperties (coil::Properties &props)
	Setting Properties.

coil::Properties	getProperties () const
	Setting Properties.

const RTC::ExecutionContextProfile &	getProfile () const
	Getting Profile.

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
RTC::ReturnCode_t	onAddedComponent (RTC::LightweightRTObject_ptr rtobj) override
	onAddedComponent() template function

RTC::ReturnCode_t	onRemovedComponent (RTC::LightweightRTObject_ptr rtobj) override
	onRemovedComponent() template function

Protected Member Functions inherited from RTC::ExecutionContextBase
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)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Protected Attributes
std::mutex	m_tickmutex
	Mutex to guard tick() reenter.

Protected Attributes inherited from RTC::ExecutionContextBase
RTC::Logger	rtclog

RTC_impl::ExecutionContextWorker	m_worker

RTC_impl::ExecutionContextProfile	m_profile

std::chrono::nanoseconds	m_activationTimeout

std::chrono::nanoseconds	m_deactivationTimeout

std::chrono::nanoseconds	m_resetTimeout

bool	m_syncActivation

bool	m_syncDeactivation

bool	m_syncReset

Additional Inherited Members
Static Public Member Functions inherited from RTC::ExecutionContextBase
static const char *	getStateString (RTC::LifeCycleState state)

static const char *	getKindString (RTC::ExecutionKind kind)
	Converting ExecutionKind enum to string.

Detailed Description

OpenHRPExecutionContext class.

This is ExecutionContext for OpenHRP3. This EC can execute only one cycle by tick() call from external framework.

Constructor & Destructor Documentation

◆ OpenHRPExecutionContext()

RTC::OpenHRPExecutionContext::OpenHRPExecutionContext ( )

Constructor .

◆ ~OpenHRPExecutionContext()

RTC::OpenHRPExecutionContext::~OpenHRPExecutionContext ( )

override

Destructor .

Member Function Documentation

◆ activate_component()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::activate_component ( RTC::LightweightRTObject_ptr comp )

override

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

◆ add_component()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::add_component ( RTC::LightweightRTObject_ptr comp )

override

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

◆ deactivate_component()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::deactivate_component ( RTC::LightweightRTObject_ptr comp )

override

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

◆ get_component_state()

RTC::LifeCycleState RTC::OpenHRPExecutionContext::get_component_state ( RTC::LightweightRTObject_ptr comp )

override

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)

◆ get_kind()

RTC::ExecutionKind RTC::OpenHRPExecutionContext::get_kind ( )

override

Get the ExecutionKind.

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

Returns: ExecutionKind

◆ get_profile()

RTC::ExecutionContextProfile * RTC::OpenHRPExecutionContext::get_profile ( )

override

Get the ExecutionContextProfile.

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

Returns: ExecutionContextProfile

◆ get_rate()

CORBA::Double RTC::OpenHRPExecutionContext::get_rate ( )

override

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)

◆ is_running()

CORBA::Boolean RTC::OpenHRPExecutionContext::is_running ( )

override

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)

◆ onAddedComponent()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::onAddedComponent ( RTC::LightweightRTObject_ptr rtobj )

overrideprotectedvirtual

onAddedComponent() template function

Reimplemented from RTC::ExecutionContextBase.

◆ onRemovedComponent()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::onRemovedComponent ( RTC::LightweightRTObject_ptr rtobj )

overrideprotectedvirtual

onRemovedComponent() template function

Reimplemented from RTC::ExecutionContextBase.

◆ remove_component()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::remove_component ( RTC::LightweightRTObject_ptr comp )

override

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

◆ reset_component()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::reset_component ( RTC::LightweightRTObject_ptr comp )

override

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

◆ set_rate()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::set_rate ( CORBA::Double rate )

override

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

◆ start()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::start ( )

override

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

◆ stop()

RTC::ReturnCode_t RTC::OpenHRPExecutionContext::stop ( )

overridevirtual

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.

◆ tick()

void RTC::OpenHRPExecutionContext::tick ( )

override

Move forward one step of ExecutionContext.

Move forward one step of the ExecutionContext processing.

Member Data Documentation

◆ m_tickmutex

std::mutex RTC::OpenHRPExecutionContext::m_tickmutex

protected

Mutex to guard tick() reenter.

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

OpenHRPExecutionContext.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OpenHRPExecutionContext()

◆ ~OpenHRPExecutionContext()

Member Function Documentation

◆ activate_component()

◆ add_component()

◆ deactivate_component()

◆ get_component_state()

◆ get_kind()

◆ get_profile()

◆ get_rate()

◆ is_running()

◆ onAddedComponent()

◆ onRemovedComponent()

◆ remove_component()

◆ reset_component()

◆ set_rate()

◆ start()

◆ stop()

◆ tick()

Member Data Documentation

◆ m_tickmutex