PeriodicExecutionContext

java.lang.Object
- org.omg.PortableServer.Servant
- - RTC.ExecutionContextServicePOA
  - - jp.go.aist.rtm.RTC.executionContext.PeriodicExecutionContext

All Implemented Interfaces:

SDOServiceOperations, java.lang.Runnable, ECNewDeleteFunc, ExecutionContextBase, ObjectCreator<ExecutionContextBase>, ObjectDestructor, org.omg.CORBA.portable.InvokeHandler, ExecutionContextOperations, ExecutionContextServiceOperations

Direct Known Subclasses:

OpenHRPExecutionContext
```
public class PeriodicExecutionContext
extends ExecutionContextServicePOA
implements java.lang.Runnable, ObjectCreator<ExecutionContextBase>, ObjectDestructor, ExecutionContextBase
```
Periodic Sampled Data Processing(周期実行用)ExecutionContextクラスです。

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`protected class`	`PeriodicExecutionContext.Comp` ExecutionContextにattachされたコンポーネントのメソッド呼出用クラスです。
`protected class`	`PeriodicExecutionContext.DFP` DataFlowComponentのAction定義用抽象クラスです。
`protected class`	`PeriodicExecutionContext.DFPBase` DataFlowComponentのAction定義用抽象クラスです。
`protected class`	`PeriodicExecutionContext.find_comp` 管理対象コンポーネント検索用ヘルパークラスです。

Nested classes/interfaces inherited from interface jp.go.aist.rtm.RTC.executionContext.ExecutionContextBase
ExecutionContextBase.transitionModeHolder

Field Summary

Fields
Modifier and Type	Field and Description
`(package private) TimeValue`	`m_activationTimeout`
`protected java.util.Vector<PeriodicExecutionContext.Comp>`	`m_comps` ExecutionContextにatttachされているコンポーネントのリストです。
`protected java.util.ArrayList<java.lang.Integer>`	`m_cpu`
`(package private) TimeValue`	`m_deactivationTimeout`
`protected boolean`	`m_nowait`
`protected ExecutionContextProfile`	`m_profile` ExecutionContextProfileです。
`protected ExecutionContextService`	`m_ref` ExecutionContextServiceとしてのCORBAオブジェクト参照です。
`(package private) TimeValue`	`m_resetTimeout`
`(package private) boolean`	`m_syncActivation`
`(package private) boolean`	`m_syncDeactivation`
`(package private) boolean`	`m_syncReset`
`protected java.lang.Thread`	`m_thread`
`protected long`	`m_usec` ExecutionContextの動作周期です。
`protected ExecutionContextWorker`	`m_worker` ExecutionContextWorkerです。
`protected Logbuf`	`rtcout` Logging用フォーマットオブジェクト
`protected boolean`	`ticked_`

Constructor Summary

Constructors
Constructor and Description

PeriodicExecutionContext()
Default Constructor

Constructors
Constructor and Description
`PeriodicExecutionContext()` Default Constructor

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`ExecutionContextService`	`__this()` __this()
`ReturnCode_t`	`activate_component(LightweightRTObject comp)` コンポーネントをアクティブ化します。
`ReturnCode_t`	`activateComponent(LightweightRTObject comp)`
`ReturnCode_t`	`add_component(LightweightRTObject comp)` Add an RT-component
`ReturnCode_t`	`addComponent(LightweightRTObject comp)`
`ReturnCode_t`	`bindComponent(RTObject_impl rtc)` Bind the component.
`int`	`close(long flags)` スレッド終了関数です。
`ExecutionContextBase`	`creator_()` Creats PeriodicExecutionContext
`ReturnCode_t`	`deactivate_component(LightweightRTObject comp)` コンポーネントを非アクティブ化します。
`ReturnCode_t`	`deactivateComponent(LightweightRTObject comp)`
`void`	`destructor_(java.lang.Object obj)` Destructs Object
`java.lang.Object`	`ECDeleteFunc(ExecutionContextBase comp)` ExecutionContextのインスタンスを破棄します。
`ExecutionContextBase`	`ECNewFunc()` ExecutionContextのインスタンスを取得します。
`LifeCycleState`	`get_component_state(LightweightRTObject comp)` コンポーネントの状態を取得します。
`ExecutionKind`	`get_kind()` ExecutionKindを取得します。
`ExecutionContextProfile`	`get_profile()` ExecutionContextProfile を取得します。
`double`	`get_rate()` ExecutionContextの実行周期(Hz)を取得します。
`RTObject[]`	`getComponentList()` @brief Getting participant RTC list
`LifeCycleState`	`getComponentState(LightweightRTObject comp)`
`ExecutionKind`	`getKind()`
`java.lang.String`	`getKindString(ExecutionKind kind)` Converting ExecutionKind enum to string
`ExecutionContextService`	`getObjRef()` Get the reference to the CORBA object
`RTObject`	`getOwner()` Getting a reference of the owner component
`TimeValue`	`getPeriod()`
`ExecutionContextProfile`	`getProfile()` Getting Profile
`Properties`	`getProperties()` Setting Properties
`double`	`getRate()` Get execution rate(Hz) of ExecutionContext
`ExecutionContextService`	`getRef()` 本オブジェクトのExecutionContextServiceとしてのCORBAオブジェクト参照を設定します。
`java.lang.String`	`getStateString(LifeCycleState state)`
`void`	`init(Properties props)` Initialization function of ExecutionContext class
`void`	`invokeWorker()`
`void`	`invokeWorkerDo()`
`void`	`invokeWorkerPostDo()`
`void`	`invokeWorkerPreDo()`
`boolean`	`is_running()` ExecutionContextが実行中かどうかを取得します。
`boolean`	`isAllCurrentState(LifeCycleState state)`
`boolean`	`isAllNextState(LifeCycleState state)`
`boolean`	`isOneOfCurrentState(LifeCycleState state)`
`boolean`	`isOneOfNextState(LifeCycleState state)`
`boolean`	`isRunning()`
`ReturnCode_t`	`onActivated(RTObjectStateMachine comp, long count)`
`ReturnCode_t`	`onActivating(LightweightRTObject comp)`
`ReturnCode_t`	`onAddedComponent(LightweightRTObject rtobj)`
`ReturnCode_t`	`onAddingComponent(LightweightRTObject rtobj)`
`ReturnCode_t`	`onDeactivated(RTObjectStateMachine comp, long count)`
`ReturnCode_t`	`onDeactivating(LightweightRTObject comp)`
`LifeCycleState`	`onGetComponentState(LifeCycleState state)`
`ExecutionKind`	`onGetKind(ExecutionKind kind)`
`ExecutionContextProfile`	`onGetProfile(ExecutionContextProfile profile)`
`double`	`onGetRate(double rate)`
`boolean`	`onIsRunning(boolean running)`
`ReturnCode_t`	`onRemovedComponent(LightweightRTObject rtobj)`
`ReturnCode_t`	`onRemovingComponent(LightweightRTObject rtobj)`
`ReturnCode_t`	`onReset(RTObjectStateMachine comp, long count)`
`ReturnCode_t`	`onResetting(LightweightRTObject comp)`
`ReturnCode_t`	`onSetRate(double rate)`
`double`	`onSettingRate(double rate)`
`ReturnCode_t`	`onStarted()`
`ReturnCode_t`	`onStarting()`
`ReturnCode_t`	`onStopped()`
`ReturnCode_t`	`onStopping()`
`ReturnCode_t`	`onWaitingActivated(RTObjectStateMachine comp, long count)` onWaitingActivated() template function
`ReturnCode_t`	`onWaitingDeactivated(RTObjectStateMachine comp, long count)` onWaitingDeactivated() template function
`ReturnCode_t`	`onWaitingReset(RTObjectStateMachine comp, long count)` onWaitingReset() template function
`int`	`open()` ExecutionContext用のスレッドを生成します。
`static void`	`PeriodicExecutionContextInit(Manager manager)` このExecutionContextを生成するFactoryクラスを ExecutionContext用ObjectManagerに登録します。
`ReturnCode_t`	`remove_component(LightweightRTObject comp)` Remove the RT-Component from participant list
`ReturnCode_t`	`removeComponent(LightweightRTObject comp)`
`ReturnCode_t`	`reset_component(LightweightRTObject comp)` コンポーネントをリセットします。
`ReturnCode_t`	`resetComponent(LightweightRTObject comp)`
`void`	`run()` スレッド実行関数です。
`ReturnCode_t`	`set_rate(double rate)` ExecutionContextの実行周期(Hz)を設定します。
`void`	`setCpuAffinity(Properties props)` Callback function to finalize
`boolean`	`setExecutionRate(Properties props)` Setting execution rate from given properties.
`ReturnCode_t`	`setKind(ExecutionKind kind)` Set the ExecutionKind
`void`	`setObjRef(ExecutionContextService ref)` 本オブジェクトのExecutionContextServiceとしてのCORBAオブジェクト参照を設定します。
`ReturnCode_t`	`setOwner(LightweightRTObject comp)` Setting owner component of the execution context
`void`	`setProperties(Properties props)` Setting Properties
`ReturnCode_t`	`setRate(double rate)` Set execution rate(Hz) of ExecutionContext
`boolean`	`setTimeout(Properties props, java.lang.String key, TimeValue timevalue)` Setting state transition timeout from given properties.
`boolean`	`setTransitionMode(Properties props, java.lang.String key, ExecutionContextBase.transitionModeHolder tmhldr)` Setting state transition mode from given properties.
`ReturnCode_t`	`start()` ExecutionContext をスタートします。
`ReturnCode_t`	`stop()` ExecutionContext をストップします。
`int`	`svc()` ExecutionContext用のスレッドの実行関数です。登録されたコンポーネントの処理を呼び出します。
`boolean`	`threadRunning()`
`ReturnCode_t`	`waitForActivated(RTObjectStateMachine rtobj)`
`ReturnCode_t`	`waitForDeactivated(RTObjectStateMachine rtobj)`
`ReturnCode_t`	`waitForReset(RTObjectStateMachine rtobj)`

Methods inherited from class RTC.ExecutionContextServicePOA
_all_interfaces, _invoke, _this, _this

Methods inherited from class org.omg.PortableServer.Servant
_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - m_activationTimeout
```
TimeValue m_activationTimeout
```
  - m_deactivationTimeout
```
TimeValue m_deactivationTimeout
```
  - m_resetTimeout
```
TimeValue m_resetTimeout
```
  - m_syncActivation
```
boolean m_syncActivation
```
  - m_syncDeactivation
```
boolean m_syncDeactivation
```
  - m_syncReset
```
boolean m_syncReset
```
  - m_comps
```
protected java.util.Vector<PeriodicExecutionContext.Comp> m_comps
```
    ExecutionContextにatttachされているコンポーネントのリストです。
  - m_worker
```
protected ExecutionContextWorker m_worker
```
    ExecutionContextWorkerです。
  - m_profile
```
protected ExecutionContextProfile m_profile
```
    ExecutionContextProfileです。
  - m_usec
```
protected long m_usec
```
    ExecutionContextの動作周期です。
  - m_ref
```
protected ExecutionContextService m_ref
```
    ExecutionContextServiceとしてのCORBAオブジェクト参照です。
  - m_nowait
```
protected boolean m_nowait
```
  - m_thread
```
protected java.lang.Thread m_thread
```
  - ticked_
```
protected boolean ticked_
```
  - m_cpu
```
protected java.util.ArrayList<java.lang.Integer> m_cpu
```
  - rtcout
```
protected Logbuf rtcout
```
    Logging用フォーマットオブジェクト
- Constructor Detail
  - PeriodicExecutionContext
```
public PeriodicExecutionContext()
```
    Default Constructor
    Default Constructor Set the following items to profile. - kind : PERIODIC - rate : 0.0
- Method Detail
  - __this
```
public ExecutionContextService __this()
```
    __this()
    
    Returns:
    
    ExecutionContextService
  - setObjRef
```
public void setObjRef(ExecutionContextService ref)
```
    本オブジェクトのExecutionContextServiceとしてのCORBAオブジェクト参照を設定します。
    
    Specified by:
    
    setObjRef in interface ExecutionContextBase
    
    Parameters:
    
    ref - CORBAオブジェクト参照
  - getRef
```
public ExecutionContextService getRef()
```
    本オブジェクトのExecutionContextServiceとしてのCORBAオブジェクト参照を設定します。
    
    Returns:
    
    CORBAオブジェクト参照
  - open
```
public int open()
```
    ExecutionContext用のスレッドを生成します。
  - svc
```
public int svc()
```
    ExecutionContext用のスレッドの実行関数です。登録されたコンポーネントの処理を呼び出します。
  - run
```
public void run()
```
    スレッド実行関数です。
    
    Specified by:
    
    run in interface java.lang.Runnable
  - close
```
public int close(long flags)
```
    スレッド終了関数です。
  - is_running
```
public boolean is_running()
```
    ExecutionContextが実行中かどうかを取得します。
    
    Specified by:
    
    is_running in interface ExecutionContextOperations
    
    Returns:
    
    実行判定結果
  - isRunning
```
public boolean isRunning()
```
  - onIsRunning
```
public boolean onIsRunning(boolean running)
```
  - onStarting
```
public ReturnCode_t onStarting()
```
  - onStarted
```
public ReturnCode_t onStarted()
```
    Specified by:
    
    onStarted in interface ExecutionContextBase
  - onStopping
```
public ReturnCode_t onStopping()
```
    Specified by:
    
    onStopping in interface ExecutionContextBase
  - onStopped
```
public ReturnCode_t onStopped()
```
    Specified by:
    
    onStopped in interface ExecutionContextBase
  - onGetRate
```
public double onGetRate(double rate)
```
    Specified by:
    
    onGetRate in interface ExecutionContextBase
  - onSettingRate
```
public double onSettingRate(double rate)
```
    Specified by:
    
    onSettingRate in interface ExecutionContextBase
  - onSetRate
```
public ReturnCode_t onSetRate(double rate)
```
    Specified by:
    
    onSetRate in interface ExecutionContextBase
  - onAddingComponent
```
public ReturnCode_t onAddingComponent(LightweightRTObject rtobj)
```
    Specified by:
    
    onAddingComponent in interface ExecutionContextBase
  - onAddedComponent
```
public ReturnCode_t onAddedComponent(LightweightRTObject rtobj)
```
    Specified by:
    
    onAddedComponent in interface ExecutionContextBase
  - onRemovingComponent
```
public ReturnCode_t onRemovingComponent(LightweightRTObject rtobj)
```
    Specified by:
    
    onRemovingComponent in interface ExecutionContextBase
  - onRemovedComponent
```
public ReturnCode_t onRemovedComponent(LightweightRTObject rtobj)
```
    Specified by:
    
    onRemovedComponent in interface ExecutionContextBase
  - onActivating
```
public ReturnCode_t onActivating(LightweightRTObject comp)
```
    Specified by:
    
    onActivating in interface ExecutionContextBase
  - onActivated
```
public ReturnCode_t onActivated(RTObjectStateMachine comp,
                                long count)
```
    Specified by:
    
    onActivated in interface ExecutionContextBase
  - onDeactivating
```
public ReturnCode_t onDeactivating(LightweightRTObject comp)
```
    Specified by:
    
    onDeactivating in interface ExecutionContextBase
  - onDeactivated
```
public ReturnCode_t onDeactivated(RTObjectStateMachine comp,
                                  long count)
```
    Specified by:
    
    onDeactivated in interface ExecutionContextBase
  - onResetting
```
public ReturnCode_t onResetting(LightweightRTObject comp)
```
    Specified by:
    
    onResetting in interface ExecutionContextBase
  - onReset
```
public ReturnCode_t onReset(RTObjectStateMachine comp,
                            long count)
```
    Specified by:
    
    onReset in interface ExecutionContextBase
  - threadRunning
```
public boolean threadRunning()
```
  - onGetComponentState
```
public LifeCycleState onGetComponentState(LifeCycleState state)
```
    Specified by:
    
    onGetComponentState in interface ExecutionContextBase
  - onGetKind
```
public ExecutionKind onGetKind(ExecutionKind kind)
```
    Specified by:
    
    onGetKind in interface ExecutionContextBase
  - onGetProfile
```
public ExecutionContextProfile onGetProfile(ExecutionContextProfile profile)
```
    Specified by:
    
    onGetProfile in interface ExecutionContextBase
  - onWaitingActivated
```
public ReturnCode_t onWaitingActivated(RTObjectStateMachine comp,
                                       long count)
```
    onWaitingActivated() template function
    
    Specified by:
    
    onWaitingActivated in interface ExecutionContextBase
  - onWaitingDeactivated
```
public ReturnCode_t onWaitingDeactivated(RTObjectStateMachine comp,
                                         long count)
```
    Description copied from interface: ExecutionContextBase
    
    onWaitingDeactivated() template function
    
    Specified by:
    
    onWaitingDeactivated in interface ExecutionContextBase
  - onWaitingReset
```
public ReturnCode_t onWaitingReset(RTObjectStateMachine comp,
                                   long count)
```
    Description copied from interface: ExecutionContextBase
    
    onWaitingReset() template function
    
    Specified by:
    
    onWaitingReset in interface ExecutionContextBase
  - start
```
public ReturnCode_t start()
```
    ExecutionContext をスタートします。
    
    Specified by:
    
    start in interface ExecutionContextOperations
    
    Returns:
    
    実行結果
  - stop
```
public ReturnCode_t stop()
```
    ExecutionContext をストップします。
    
    Specified by:
    
    stop in interface ExecutionContextOperations
    
    Returns:
    
    実行結果
  - get_rate
```
public double get_rate()
```
    ExecutionContextの実行周期(Hz)を取得します。
    
    Specified by:
    
    get_rate in interface ExecutionContextOperations
    
    Returns:
    
    実行周期(Hz)
  - getPeriod
```
public TimeValue getPeriod()
```
  - set_rate
```
public ReturnCode_t set_rate(double rate)
```
    ExecutionContextの実行周期(Hz)を設定します。
    
    Specified by:
    
    set_rate in interface ExecutionContextOperations
    
    Parameters:
    
    rate - 実行周期(Hz)
  - activate_component
```
public ReturnCode_t activate_component(LightweightRTObject comp)
```
    コンポーネントをアクティブ化します。
    
    Specified by:
    
    activate_component in interface ExecutionContextOperations
    
    Parameters:
    
    comp - アクティブ化対象コンポーネント
    
    Returns:
    
    実行結果
  - activateComponent
```
public ReturnCode_t activateComponent(LightweightRTObject comp)
```
  - waitForActivated
```
public ReturnCode_t waitForActivated(RTObjectStateMachine rtobj)
```
  - deactivate_component
```
public ReturnCode_t deactivate_component(LightweightRTObject comp)
```
    コンポーネントを非アクティブ化します。
    
    Specified by:
    
    deactivate_component in interface ExecutionContextOperations
    
    Parameters:
    
    comp - 非アクティブ化対象コンポーネント
    
    Returns:
    
    実行結果
  - deactivateComponent
```
public ReturnCode_t deactivateComponent(LightweightRTObject comp)
```
  - waitForDeactivated
```
public ReturnCode_t waitForDeactivated(RTObjectStateMachine rtobj)
```
  - reset_component
```
public ReturnCode_t reset_component(LightweightRTObject comp)
```
    コンポーネントをリセットします。
    
    Specified by:
    
    reset_component in interface ExecutionContextOperations
    
    Parameters:
    
    comp - リセット対象コンポーネント
    
    Returns:
    
    実行結果
  - resetComponent
```
public ReturnCode_t resetComponent(LightweightRTObject comp)
```
  - waitForReset
```
public ReturnCode_t waitForReset(RTObjectStateMachine rtobj)
```
  - get_component_state
```
public LifeCycleState get_component_state(LightweightRTObject comp)
```
    コンポーネントの状態を取得します。
    
    Specified by:
    
    get_component_state in interface ExecutionContextOperations
    
    Parameters:
    
    comp - 状態取得対象コンポーネント
    
    Returns:
    
    コンポーネント状態
  - getComponentState
```
public LifeCycleState getComponentState(LightweightRTObject comp)
```
  - getStateString
```
public final java.lang.String getStateString(LifeCycleState state)
```
  - get_kind
```
public ExecutionKind get_kind()
```
    ExecutionKindを取得します。
    
    Specified by:
    
    get_kind in interface ExecutionContextOperations
    
    Returns:
    
    ExecutionKind
  - getKind
```
public ExecutionKind getKind()
```
  - add_component
```
public ReturnCode_t add_component(LightweightRTObject 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.
    
    Specified by:
    
    add_component in interface ExecutionContextOperations
    
    Parameters:
    
    comp - The target RT-Component for add
    
    Returns:
    
    The return code of ReturnCode_t type
  - addComponent
```
public ReturnCode_t addComponent(LightweightRTObject comp)
```
  - bindComponent
```
public ReturnCode_t bindComponent(RTObject_impl rtc)
```
    Bind the component.
    Bind the component.
    
    Specified by:
    
    bindComponent in interface ExecutionContextBase
    
    Parameters:
    
    rtc - RT-Component's instances
    
    Returns:
    
    The return code of ReturnCode_t type
  - remove_component
```
public ReturnCode_t remove_component(LightweightRTObject 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.
    
    Specified by:
    
    remove_component in interface ExecutionContextOperations
    
    Parameters:
    
    comp - The target RT-Component for delete
    
    Returns:
    
    The return code of ReturnCode_t type
  - removeComponent
```
public ReturnCode_t removeComponent(LightweightRTObject comp)
```
  - get_profile
```
public ExecutionContextProfile get_profile()
```
    ExecutionContextProfile を取得します。
    
    Specified by:
    
    get_profile in interface ExecutionContextServiceOperations
    
    Returns:
    
    ExecutionContextProfile
  - PeriodicExecutionContextInit
```
public static void PeriodicExecutionContextInit(Manager manager)
```
    このExecutionContextを生成するFactoryクラスを ExecutionContext用ObjectManagerに登録します。
    
    Parameters:
    
    manager - Managerオブジェクト
  - creator_
```
public ExecutionContextBase creator_()
```
    Creats PeriodicExecutionContext
    
    Specified by:
    
    creator_ in interface ObjectCreator<ExecutionContextBase>
    
    Returns:
    
    Object Created instances
  - destructor_
```
public void destructor_(java.lang.Object obj)
```
    Destructs Object
    
    Specified by:
    
    destructor_ in interface ObjectDestructor
    
    Parameters:
    
    obj - The target instances for destruction
  - ECNewFunc
```
public ExecutionContextBase ECNewFunc()
```
    ExecutionContextのインスタンスを取得します。
    
    Specified by:
    
    ECNewFunc in interface ECNewDeleteFunc
    
    Returns:
    
    ExecutionContextインスタンス
  - ECDeleteFunc
```
public java.lang.Object ECDeleteFunc(ExecutionContextBase comp)
```
    ExecutionContextのインスタンスを破棄します。
    
    Specified by:
    
    ECDeleteFunc in interface ECNewDeleteFunc
    
    Parameters:
    
    comp - 破棄対象ExecutionContextインスタンス
  - init
```
public void init(Properties props)
```
    Initialization function of ExecutionContext class
    
    Specified by:
    
    init in interface ExecutionContextBase
  - getObjRef
```
public ExecutionContextService getObjRef()
```
    Get the reference to the CORBA object
    Get the reference to the CORBA object as ExecutioncontextService of this object.
    
    Specified by:
    
    getObjRef in interface ExecutionContextBase
    
    Returns:
    
    The reference to CORBA object
  - setRate
```
public ReturnCode_t setRate(double rate)
```
    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.
    
    Specified by:
    
    setRate in interface ExecutionContextBase
    
    Parameters:
    
    rate - Execution cycle(Unit:Hz)
    
    Returns:
    
    The return code of ReturnCode_t type RTC_OK: Succeed BAD_PARAMETER: Invalid value. The value might be negative.
  - getRate
```
public double getRate()
```
    Get execution rate(Hz) of ExecutionContext
    This operation shall return the rate (in hertz) at which its Active participating RTCs are being invoked.
    
    Specified by:
    
    getRate in interface ExecutionContextBase
    
    Returns:
    
    Execution cycle(Unit:Hz)
  - getKindString
```
public final java.lang.String getKindString(ExecutionKind kind)
```
    Converting ExecutionKind enum to string
    This function converts enumeration (PERIODIC, EVENT_DRIVEN, OTHER) defined in RTC::ExecutionKind to string.
    
    Specified by:
    
    getKindString in interface ExecutionContextBase
    
    Parameters:
    
    kind - ExecutionKind
    
    Returns:
    
    String of ExecutionKind
  - setKind
```
public ReturnCode_t setKind(ExecutionKind kind)
```
    Set the ExecutionKind
    This operation sets the kind of the execution context.
    
    Specified by:
    
    setKind in interface ExecutionContextBase
    
    Parameters:
    
    kind - kind ExecutionKind
  - setOwner
```
public ReturnCode_t setOwner(LightweightRTObject comp)
```
    Setting owner component of the execution context
    This function sets an RT-Component to be owner of the execution context.
    
    Specified by:
    
    setOwner in interface ExecutionContextBase
    
    Parameters:
    
    comp - an owner RT-Component of this execution context
    
    Returns:
    
    The return code of ReturnCode_t type
  - getOwner
```
public RTObject getOwner()
```
    Getting a reference of the owner component
    This function returns a reference of the owner RT-Component of this execution context
    
    Specified by:
    
    getOwner in interface ExecutionContextBase
    
    Returns:
    
    a reference of the owner RT-Component
  - getComponentList
```
public RTObject[] getComponentList()
```
    @brief Getting participant RTC list
    This function returns a list of participant RTC of the execution context.
    
    Specified by:
    
    getComponentList in interface ExecutionContextBase
    
    Returns:
    
    Participants RTC list
  - setProperties
```
public void setProperties(Properties props)
```
    Setting Properties
    This function sets ExecutionContextProfile::properties by Properties.
    
    Specified by:
    
    setProperties in interface ExecutionContextBase
    
    Parameters:
    
    props - Properties to be set to ExecutionContextProfile::properties.
  - getProperties
```
public Properties getProperties()
```
    Setting Properties
    This function sets ExecutionContextProfile::properties by Properties.
    
    Specified by:
    
    getProperties in interface ExecutionContextBase
    
    Returns:
    
    Properties to be set to ExecutionContextProfile::properties.
  - getProfile
```
public ExecutionContextProfile getProfile()
```
    Getting Profile
    This function gets ExecutionContextProfile.
    
    Specified by:
    
    getProfile in interface ExecutionContextBase
    
    Returns:
    
    ExecutionContextProfile
  - setTimeout
```
public boolean setTimeout(Properties props,
                          java.lang.String key,
                          TimeValue timevalue)
```
    Description copied from interface: ExecutionContextBase
    
    Setting state transition timeout from given properties.
    
    Specified by:
    
    setTimeout in interface ExecutionContextBase
    
    Parameters:
    
    props - Properties to be set to ExecutionContextProfile::properties.
  - setExecutionRate
```
public boolean setExecutionRate(Properties props)
```
    Description copied from interface: ExecutionContextBase
    
    Setting execution rate from given properties.
    
    Specified by:
    
    setExecutionRate in interface ExecutionContextBase
    
    Parameters:
    
    props - Properties to be set to ExecutionContextProfile::properties.
  - setTransitionMode
```
public boolean setTransitionMode(Properties props,
                                 java.lang.String key,
                                 ExecutionContextBase.transitionModeHolder tmhldr)
```
    Description copied from interface: ExecutionContextBase
    
    Setting state transition mode from given properties.
    
    Specified by:
    
    setTransitionMode in interface ExecutionContextBase
    
    Parameters:
    
    props - Properties to be set to ExecutionContextProfile::properties.
  - isAllCurrentState
```
public boolean isAllCurrentState(LifeCycleState state)
```
    Specified by:
    
    isAllCurrentState in interface ExecutionContextBase
  - isAllNextState
```
public boolean isAllNextState(LifeCycleState state)
```
    Specified by:
    
    isAllNextState in interface ExecutionContextBase
  - isOneOfCurrentState
```
public boolean isOneOfCurrentState(LifeCycleState state)
```
    Specified by:
    
    isOneOfCurrentState in interface ExecutionContextBase
  - isOneOfNextState
```
public boolean isOneOfNextState(LifeCycleState state)
```
    Specified by:
    
    isOneOfNextState in interface ExecutionContextBase
  - invokeWorker
```
public void invokeWorker()
```
    Specified by:
    
    invokeWorker in interface ExecutionContextBase
  - invokeWorkerPreDo
```
public void invokeWorkerPreDo()
```
    Specified by:
    
    invokeWorkerPreDo in interface ExecutionContextBase
  - invokeWorkerDo
```
public void invokeWorkerDo()
```
    Specified by:
    
    invokeWorkerDo in interface ExecutionContextBase
  - invokeWorkerPostDo
```
public void invokeWorkerPostDo()
```
    Specified by:
    
    invokeWorkerPostDo in interface ExecutionContextBase
  - setCpuAffinity
```
public void setCpuAffinity(Properties props)
```
    Callback function to finalize

Class PeriodicExecutionContext

Nested Class Summary

Nested classes/interfaces inherited from interface jp.go.aist.rtm.RTC.executionContext.ExecutionContextBase

Field Summary

Constructor Summary

Method Summary

Methods inherited from class RTC.ExecutionContextServicePOA

Methods inherited from class org.omg.PortableServer.Servant

Methods inherited from class java.lang.Object

Field Detail

m_activationTimeout

m_deactivationTimeout

m_resetTimeout

m_syncActivation

m_syncDeactivation

m_syncReset

m_comps

m_worker

m_profile

m_usec

m_ref

m_nowait

m_thread

ticked_

m_cpu

rtcout

Constructor Detail

PeriodicExecutionContext

Method Detail

__this

setObjRef

getRef

open

svc

run

close

is_running

isRunning

onIsRunning

onStarting

onStarted

onStopping

onStopped

onGetRate

onSettingRate

onSetRate

onAddingComponent

onAddedComponent

onRemovingComponent

onRemovedComponent

onActivating

onActivated

onDeactivating

onDeactivated

onResetting

onReset

threadRunning

onGetComponentState

onGetKind

onGetProfile

onWaitingActivated

onWaitingDeactivated

onWaitingReset

start

stop

get_rate

getPeriod

set_rate

activate_component

activateComponent

waitForActivated

deactivate_component

deactivateComponent

waitForDeactivated

reset_component

resetComponent

waitForReset

get_component_state

getComponentState

getStateString