ExecutionEngine Class Reference
[Execution Engine]

#include </home/sspr/src/www/orocos-1.0/export/build/orocos-rtt-1.2.2/build/rtt/ExecutionEngine.hpp>

Inheritance diagram for ExecutionEngine:

List of all members.

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Detailed Description

An execution engine serialises (executes one after the other) the execution of all commands, programs, state machines and incomming events for a task.

Any function executing in the same execution engine is guaranteed to be thread-safe with respect to other functions executing in the same execution engine.

The ExecutionEngine bundles a CommandProcessor, ProgramProcessor, StateMachineProcessor and EventProcessor.

Changing the Execution Policy

One can subclass this class in order to change the run-time behaviour. Use TaskCore::setExecutionEngine in order to install a new ExecutionEngine in a component. All Members of this class are protected and thus accessible in a subclass.

Public Member Functions
	ExecutionEngine (TaskCore *owner=0)
	Create an execution engine with a CommandProcessor, ProgramProcessor and StateMachineProcessor.
virtual bool	initialize ()
	The method that will be called before the first periodical execution of step() ( or non periodical execution of loop() ), when the thread is started.
virtual void	step ()
	Executes (in that order) programs, state machines, commands, events and the TaskCore's update() function.
virtual bool	breakLoop ()
	This method is called by the framework to break out of the loop() method.
virtual void	finalize ()
	The method that will be called after the last periodical execution of step() ( or non periodical execution of loop() ), when the RunnableInterface is stopped.
virtual void	setActivity (ActivityInterface *t)
	Set the task this interface is run in.
TaskCore *	getParent ()
	The TaskCore which created this ExecutionEngine.
virtual void	addChild (TaskCore *tc)
	Add a TaskCore to execute.
virtual void	removeChild (TaskCore *tc)
	Remove a TaskCore from execution.
TaskCore *	getTaskCore () const
	Returns the owner of this execution engine.
CommandProcessor *	commands () const
	Return the CommandProcessor of this engine.
ProgramProcessor *	programs () const
	Return the ProgramProcessor of this engine.
StateMachineProcessor *	states () const
	Return the StateMachineProcessor of this engine.
EventProcessor *	events () const
	Return the EventProcessor of this engine.
virtual void	setCommandProcessor (CommandProcessor *c)
	Install a new CommandProcessor.
virtual void	setProgramProcessor (ProgramProcessor *p)
	Install a new ProgramProcessor.
virtual void	setStateMachineProcessor (StateMachineProcessor *s)
	Install a new StateMachineProcessor.
virtual void	setEventProcessor (EventProcessor *e)
	Install a new EventProcessor.
ActivityInterface *	getActivity () const
	Query for the task this interface is run in.
virtual void	loop ()
	The method that will be executed once when this class is run in a non periodic thread.
ThreadInterface *	getThread () const
	Get the thread this object is run in.
virtual void	setThread (ThreadInterface *t)
	Set the thread this object will be run in.
Protected Member Functions
void	setup ()
	Install new Processors.
Protected Attributes
TaskCore *	taskc
	The parent or 'owner' of this ExecutionEngine, may be null.
RunnableInterface *	cproc
	We store the Processors as RunnableInterface pointers, and dynamic_cast them back to the correct type.
RunnableInterface *	pproc
RunnableInterface *	smproc
RunnableInterface *	eproc
std::vector< TaskCore * >	children
	All tasks which execute in this ExecutionEngine.

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Constructor & Destructor Documentation

ExecutionEngine

(

TaskCore *

owner = 0

)

Create an execution engine with a CommandProcessor, ProgramProcessor and StateMachineProcessor.

Parameters:

owner

The TaskCore in which this execution engine executes. It may be null, in that case no TaskCore owns this execution engine.

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Member Function Documentation

virtual bool breakLoop

(

)

[virtual]

This method is called by the framework to break out of the loop() method.

Reimplement this method to signal loop() to return and return true on success. When this method is not reimplemented by you, it will always return false, denoting that the loop can not be broken. If breakLoop() returns true, the caller will wait until loop() returns.

Returns:

true if the loop could be notified to return.

Reimplemented from RunnableInterface.

virtual void setActivity

(

ActivityInterface *

t

)

[virtual]

Set the task this interface is run in.

A Zero means no task is running it.

Parameters:

task

The ActivityInterface running this interface.

Reimplemented from RunnableInterface.

virtual void setCommandProcessor

(

CommandProcessor *

c

)

[virtual]

Install a new CommandProcessor.

Parameters:

c

becomes owned by this object and is returned in commands().

virtual void setProgramProcessor

(

ProgramProcessor *

p

)

[virtual]

Install a new ProgramProcessor.

Parameters:

p

becomes owned by this object and is returned in programs().

virtual void setStateMachineProcessor

(

StateMachineProcessor *

s

)

[virtual]

Install a new StateMachineProcessor.

Parameters:

s

becomes owned by this object and is returned in states().

virtual void setEventProcessor

(

EventProcessor *

e

)

[virtual]

Install a new EventProcessor.

Parameters:

e

becomes owned by this object and is returned in events().

ActivityInterface * getActivity

(

)

const [inline, inherited]

Query for the task this interface is run in.

Zero denotes that no task is present to run it, and hence no detailed information is available.

Returns:

The Activity which runs this RunnableInterface.

virtual void loop

(

)

[virtual, inherited]

The method that will be executed once when this class is run in a non periodic thread.

The default implementation calls step() once.

ThreadInterface* getThread

(

)

const [inherited]

Get the thread this object is run in.

Returns:

a pointer to the thread or 0 if not run by a thread.

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

• rtt/ExecutionEngine.hpp

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