#include <mtsTask.h>

Inheritance diagram for mtsTask:

Public Types
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Member Functions
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	Run (void)=0

virtual void	OnRunException (const std::exception &excp)

virtual void	Configure (const std::string &CMN_UNUSED(filename)="")

void	SetInitializationDelay (double delay)

virtual void	Create (void *data)=0

void	Create (void)

void	Kill (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsPeriodic (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

virtual void	Configure (const std::string &filename="")

bool	CreateAndWait (double timeoutInSeconds)

virtual void	Start (void)

bool	StartAndWait (double timeoutInSeconds)

virtual void	Suspend (void)

bool	KillAndWait (double timeoutInSeconds)

virtual void	Startup (void)

virtual void	Cleanup (void)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Static Public Attributes
static std::runtime_error	UnknownException

Protected Member Functions
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

virtual void *	RunInternal (void *argument)=0

void	DoRunInternal (void)

virtual void	StartupInternal (void)

virtual void	CleanupInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Friends
class	mtsManagerLocal

Additional Inherited Members
Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Detailed Description

This class provides the base for implementing tasks that have a thread, a state table to store the state at each 'tick' (increment) of the task, and queues to receive messages (commands) from other tasks. It is derived from mtsComponent, so it also contains the provided and required interfaces, with their lists of commands.

Member Typedef Documentation

typedef mtsComponent mtsTask::BaseType

Constructor & Destructor Documentation

mtsTask::mtsTask	(	const std::string &	name,
		unsigned int	sizeStateTable = `256`
	)

Create a task with name 'name' and set the state table size (see mtsStateTable). This is the task base class. Tasks should be derived from one of the existing derived classes: mtsTaskContinuous, mtsTaskPeriodic, mtsTaskFromCallback, and mtsTaskFromSignal.

Parameters

name	The name for the task
sizeStateTable	The history size of the state table

Note: The full string name is maintained in the class member data (in mtsComponent base class). But, be aware that when a thread and/or thread buddy is created, only the first 6 characters of this name are used with the thread or thread buddy. This is an artifact of the 6 character limit imposed by RTAI/Linux.

See Also: mtsComponent, mtsTaskContinuous, mtsTaskPeriodic, mtsTaskFromCallback, mtsTaskFromSignal

virtual mtsTask::~mtsTask ( )

virtual

Default Destructor.

Member Function Documentation

mtsInterfaceProvided* mtsTask::AddInterfaceProvidedWithoutSystemEvents	(	const std::string &	interfaceProvidedName,
		mtsInterfaceQueueingPolicy	queueingPolicy = `MTS_COMPONENT_POLICY`,
		bool	isProxy = `false`
	)

virtual

Method to add a bare provided interface, i.e. without all the system events. This method should not be used by regular users as it might break things like blocking commands.

This method is virtual so that mtsTask can redefine it and create a provided interface that includes queues for thread safety.

Reimplemented from mtsComponent.

Reimplemented in mtsTaskFromSignal.

mtsInterfaceRequired* mtsTask::AddInterfaceRequiredWithoutSystemEventHandlers	(	const std::string &	interfaceRequiredName,
		mtsRequiredType	required = `MTS_REQUIRED`
	)

virtual

Reimplemented from mtsComponent.

Reimplemented in mtsTaskFromSignal.

void mtsTask::ChangeState ( mtsComponentState::Enum newState )

protected

void mtsTask::ChangeStateEventHandler ( const mtsComponentState & newState )

protected

Change state event handler.

bool mtsTask::CheckForOwnThread ( void ) const

Returns true if currently executing in thread-space of component.

virtual void mtsTask::CleanupInternal ( void )

protectedvirtual

The member function that is executed once the task terminates. This does some cleanup work.

Reimplemented in mtsTaskPeriodic.

virtual void mtsTask::Configure ( const std::string & CMN_UNUSEDfilename = "" )

inlinevirtual

Virtual method that gets called when the task/interface needs to be configured. Should it take XML info??

Reimplemented in mtsSensableHD, mtsOpenALRecord, mtsNovintHDL, mtsComponentViewer, mtsIntuitiveDaVinci, mtsOpenALPlay, mtsSartoriusSerial, mtsTextToSpeech, and mtsKeyboard.

virtual void mtsTask::Create ( void * data )

pure virtual

Implemented in mtsTaskContinuous, mtsSensableHD, mtsTaskFromCallback, and mtsNovintHDL.

void mtsTask::Create ( void )

inlinevirtual

Virtual method to create the components, e.g. for tasks create the required threads. For other components, place initialization code.

Reimplemented from mtsComponent.

void mtsTask::DoRunInternal ( void )

protected

The main part of the Run loop that is the same for all derived classes. This should not be overloaded.

double mtsTask::GetAveragePeriod ( void ) const

inline

Return the average period.

mtsStateTable* mtsTask::GetDefaultStateTable ( void )

inline

Return a pointer to the default state table. See GetStateTable and GetDefaultStateTableName.

const std::string mtsTask::GetDefaultStateTableName ( void ) const

inline

Return the name of this state table.

mtsStateIndex::TimeTicksType mtsTask::GetTick ( void ) const

protected

Return the current tick count.

virtual bool mtsTask::IsOverranPeriod ( void ) const

inlinevirtual

Return true if task overran allocated period. Note that this is not restricted to mtsTaskPeriodic. For example, an mtsTaskFromCallback can overrun if a second callback occurs before the first is finished.

virtual bool mtsTask::IsPeriodic ( void ) const

inlinevirtual

Return true if thread is periodic.

Reimplemented in mtsTaskPeriodic.

void mtsTask::Kill ( void )

virtual

End the task

Reimplemented from mtsComponent.

Reimplemented in mtsTaskContinuous, mtsTaskFromCallback, mtsSensableHD, mtsNovintHDL, and mtsTaskFromSignal.

virtual void mtsTask::OnRunException ( const std::exception & excp )

virtual

Virtual method that gets called if an exception is thrown in the Run method.

virtual void mtsTask::OnStartupException ( const std::exception & excp )

virtual

Virtual method that gets called if an exception is thrown in the Startup method. This could be moved to mtsComponent.

void mtsTask::ProcessManagerCommandsIfNotActive ( )

Conditionally process internal mailbox

virtual void mtsTask::ResetOverranPeriod ( void )

inlinevirtual

Reset overran period flag.

virtual void mtsTask::Run ( void )

pure virtual

Pure virtual method that gets overloaded to run the actual task.

Implemented in mtsManagerComponentClient, mtsManagerComponentBase, mtsPID, mtsMedtronicStealthlink, mtsSocketProxyServer, mtsMedtronicStealthlink, mtsIntuitiveResearchKitConsole, mtsCMUSphinx4, mtsCollectorEvent, mtsManagerComponentServer, mtsSensableHD, mtsSocketProxyClient, mtsOpenALRecord, mtsQtApplication, mtsNovintHDL, mtsComponentViewer, mtsNDISerial, mtsGLUTManipulator, mtsOpenALPlay, ireTask, mtsMicronTracker, mtsComponentAddLatency, mtsIntuitiveDaVinci, mtsOSGCameraTask, mtsSartoriusSerial, mts3Dconnexion, mtsOpenIGTLink, mtsWAM, mtsTrajectory, mtsRobotIO1394, mtsOSGManipulatorTask, mtsRobotTask, mtsIntuitiveResearchKitUDPStreamer, mtsODEManipulatorTask, mtsOSGImage, mtsTextToSpeech, mtsPDGC, mtsATINetFTSensor, mtsCollectorQtFactory, mtsODEWorld, mtsTeleOperation, mtsCollectorFactory, mtsIntuitiveResearchKitArm, mtsGravityCompensation, mtsKeyboard, and mtsIntuitiveResearchKitSUJ.

mtsExecutionResult mtsTask::RunEvent ( bool check = true )

protected

void mtsTask::RunEventHandler ( void )

protected

Run event handler.

virtual void* mtsTask::RunInternal ( void * argument )

protectedpure virtual

The member function that is passed as 'start routine' argument for thread creation.

Implemented in mtsTaskPeriodic, mtsTaskContinuous, mtsTaskFromCallback, and mtsTaskFromSignal.

virtual void mtsTask::SaveThreadStartData ( void * data )

protectedvirtual

Save any 'user data' that was passed to the thread start routine.

void mtsTask::SetInitializationDelay ( double delay )

Set the initialization delay. See InitializationDelay.

virtual void mtsTask::SetThreadReturnValue ( void * returnValue )

protectedvirtual

void mtsTask::Sleep ( double timeInSeconds )

protected

Delay the task by the specified amount. This is a protected member function because it should only be called from within the task. Otherwise, use osaSleep.

virtual void mtsTask::StartupInternal ( void )

protectedvirtual

The member funtion that is executed as soon as the thread gets created. It does some housekeeping before the user code can be executed.

Reimplemented in mtsTaskPeriodic, and mtsTaskFromCallback.

bool mtsTask::WaitForState	(	mtsComponentState	desiredState,
		double	timeout
	)

protectedvirtual

Helper function to wait on a state change, with specified timeout in seconds.

Reimplemented from mtsComponent.

virtual void mtsTask::WaitForWakeup ( void )

inlinevirtual

Suspend this task until the Wakeup method is called.

virtual bool mtsTask::WaitToStart ( double timeout )

virtual

Wait for task to start.

Parameters

timeout The timeout in seconds

Returns: true if task has started; false if timeout occurred before task started.

virtual bool mtsTask::WaitToTerminate ( double timeout )

virtual

Wait for task to finish (after issuing a task Kill).

Parameters

timeout The timeout in seconds

Returns: true if the task terminated without timeout happening; false if timeout occured and task did not finish

virtual void mtsTask::Wakeup ( void )

inlinevirtual

Wakeup the task.

Friends And Related Function Documentation

friend class mtsManagerLocal

friend

Member Data Documentation

mtsFunctionWrite mtsTask::ChangeStateEvent

protected

Event generator used to change state of dependent tasks.

mtsInterfaceRequired* mtsTask::ExecIn

protected

ExecIn required interface.

mtsInterfaceProvided* mtsTask::ExecOut

protected

ExecOut provided interface.

double mtsTask::InitializationDelay

protected

Delay given for the task to start. During initialization the task thread will wait for the specified delay (set by default to 3 seconds in the constructor). Increasing this delay can be useful when using mtsTaskFromCallback if the callback might take more than 3 seconds to trigger the task's Run method.

mtsCallableVoidBase* mtsTask::InterfaceProvidedToManagerCallable

protected

Callable object used when queueing.

bool mtsTask::OverranPeriod

protected

True if the task took more time to do computation than allocated time.

void* mtsTask::ReturnValue

protected

The return value for RunInternal.

bool mtsTask::RunEventCalled

protected

mtsFunctionVoid mtsTask::RunEventInternal

protected

Event generator used to pass thread of execution to another task. User code should not call this directly (call RunEvent instead).

osaMutex mtsTask::StateChange

protected

Mutex used when changing task states. Do not change this directly, use the ChangeState method instead.

osaThreadSignal mtsTask::StateChangeSignal

protected

Signal for caller to wait on task state changes.

mtsStateTable mtsTask::StateTable

protected

The state data table object to store the states of the task.

osaThread mtsTask::Thread

protected

The OS independent thread object.

void* mtsTask::ThreadStartData

protected

The data passed to the thread.

std::runtime_error mtsTask::UnknownException

static

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstMultiTask/mtsTask.h

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation