#include <MultilayerCompositeEC.h>

Inheritance diagram for RTC_exp::MultilayerCompositeEC:

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Collaboration diagram for RTC_exp::MultilayerCompositeEC:

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Classes
class	ChildTask

Public Member Functions
	MultilayerCompositeEC ()
	Default Constructor.

	~MultilayerCompositeEC () override
	Destructor.

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

int	svc () override
	Thread execution function for ExecutionContext.

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

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

virtual void	addTask (std::vector< RTC::LightweightRTObject_ptr > rtcs)

Public Member Functions inherited from RTC_exp::PeriodicExecutionContext
	PeriodicExecutionContext ()
	Default Constructor.

	~PeriodicExecutionContext () override
	Destructor.

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

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

int	svc () override
	Thread execution function for ExecutionContext.

int	close (unsigned long flags) override
	Thread execution function for 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.

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
virtual void	addRTCToTask (ChildTask *task, RTC::LightweightRTObject_ptr rtobj)

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

RTC::ReturnCode_t	onStarted () override
	onStarted() template function

RTC::ReturnCode_t	onStopping () override
	onStopping() template function

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

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

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

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

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

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

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

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

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

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)

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	onDeactivating (RTC::LightweightRTObject_ptr)

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

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::vector< ChildTask * >	m_tasklist

RTC_impl::RTObjectStateMachine *	m_ownersm {nullptr}

Protected Attributes inherited from RTC_exp::PeriodicExecutionContext
RTC::Logger	rtclog {"periodic_ec"}
	Logger stream .

bool	m_svc {false}
	The thread running flag of ExecutionContext .

std::mutex	m_svcmutex

WorkerThreadCtrl	m_workerthread
	A condition variable for external triggered worker .

bool	m_nowait {false}
	Flag of ExecutionContext to run immediately (to run without waiting) .

coil::CpuMask	m_cpu
	CPU affinity mask list.

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

MultilayerCompositeEC class.

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

Since: 0.4.0

Constructor & Destructor Documentation

◆ MultilayerCompositeEC()

RTC_exp::MultilayerCompositeEC::MultilayerCompositeEC ( )

Default Constructor.

Default Constructor Set the following items to profile.

kind : PERIODIC
rate : 0.0

◆ ~MultilayerCompositeEC()

RTC_exp::MultilayerCompositeEC::~MultilayerCompositeEC ( )

override

Destructor.

Destructor

Member Function Documentation

◆ addRTCToTask()

virtual void RTC_exp::MultilayerCompositeEC::addRTCToTask	(	ChildTask *	task,
		RTC::LightweightRTObject_ptr	rtobj )

protectedvirtual

◆ addTask()

virtual void RTC_exp::MultilayerCompositeEC::addTask ( std::vector< RTC::LightweightRTObject_ptr > rtcs )

virtual

◆ bindComponent()

RTC::ReturnCode_t RTC_exp::MultilayerCompositeEC::bindComponent ( RTC::RTObject_impl * rtc )

overridevirtual

Bind the component.

Reimplemented from RTC::ExecutionContextBase.

◆ findComponent()

virtual RTC_impl::RTObjectStateMachine * RTC_exp::MultilayerCompositeEC::findComponent ( RTC::LightweightRTObject_ptr comp )

virtual

◆ init()

void RTC_exp::MultilayerCompositeEC::init ( coil::Properties & props )

overridevirtual

Initialize the ExecutionContext.

This operation initialize the ExecutionContext

Reimplemented from RTC::ExecutionContextBase.

◆ svc()

int RTC_exp::MultilayerCompositeEC::svc ( )

override

Thread execution function for ExecutionContext.

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

Returns: The execution result

Member Data Documentation

◆ m_ownersm

RTC_impl::RTObjectStateMachine* RTC_exp::MultilayerCompositeEC::m_ownersm {nullptr}

protected

◆ m_tasklist

std::vector<ChildTask*> RTC_exp::MultilayerCompositeEC::m_tasklist