#include <mtsTaskFromCallback.h>

Inheritance diagram for mtsTaskFromCallback:

Public Member Functions
	mtsTaskFromCallback (const std::string &name, unsigned int sizeStateTable=256)
	mtsTaskFromCallback (const mtsTaskConstructorArg &arg)
virtual	~mtsTaskFromCallback ()
void	Create (void *data=0) override
void	Start (void) override
void	Suspend (void) override
void	Kill (void) override
virtual void *	DoCallback (void *data=0)
Public Member Functions inherited from mtsTask
	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)
void	Configure (const std::string &CMN_UNUSED(filename)="") override
void	SetInitializationDelay (double delay)
void	Create (void) override
double	GetAveragePeriod (void) const
const std::string	GetDefaultStateTableName (void) const
mtsStateTable *	GetDefaultStateTable (void)
mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED) override
mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY) override
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	AddTag (const std::string &tag)
const std::set< std::string > &	GetTags (void) const
void	SetName (const std::string &componentName)
virtual void	Configure (const std::string &filename="")
bool	CreateAndWait (double timeoutInSeconds)
bool	StartAndWait (double timeoutInSeconds)
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)
std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const
std::vector< std::string >	GetNamesOfInterfacesProvided (void) const
std::vector< std::string >	GetNamesOfInterfacesOutput (void) const
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)
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)
std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const
std::vector< std::string >	GetNamesOfInterfacesRequired (void) const
std::vector< std::string >	GetNamesOfInterfacesInput (void) const
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)
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 override
bool	AreAllInterfacesRequiredConnected (const bool log=false)
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 override
bool	SetReplayMode (void)
bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)
bool	SetReplayTime (const double time)
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 CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Types
typedef mtsTask	BaseType
Protected Types inherited from mtsComponent
typedef cmnNamedMap< mtsInterfaceProvided >	InterfacesProvidedMapType
typedef cmnNamedMap< mtsInterfaceOutput >	InterfacesOutputMapType
typedef cmnNamedMap< mtsInterfaceRequired >	InterfacesRequiredMapType
typedef cmnNamedMap< mtsInterfaceInput >	InterfacesInputMapType
typedef cmnNamedMap< mtsStateTable >	StateTableMapType

Protected Member Functions
void *	RunInternal (void *argument) override
void	StartupInternal (void) override
Protected Member Functions inherited from mtsTask
virtual const mtsManagerComponentServices *	GetManagerComponentServices (void) const override
void	RunEventHandler (void)
void	ChangeStateEventHandler (const mtsComponentState &newState)
mtsExecutionResult	RunEvent (bool check=true)
void	DoRunInternal (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) override
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.
bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces.
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)

Protected Attributes
bool	inRunInternal
Protected Attributes inherited from mtsTask
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
std::set< std::string >	mTags
mtsInterfaceProvided *	InterfaceProvidedToManager
bool	UseSeparateLogFileFlag
cmnLogger::StreamBufType *	LoDMultiplexerStreambuf
std::ofstream *	LogFile
InterfacesProvidedMapType	InterfacesProvided
InterfacesOutputMapType	InterfacesOutput
InterfacesRequiredMapType	InterfacesRequired
InterfacesInputMapType	InterfacesInput
StateTableMapType	StateTables
mtsManagerComponentServices *	ManagerComponentServices
mtsFunctionWrite	EventGeneratorChangeState
bool	ReplayMode

Additional Inherited Members
Public Types inherited from mtsTask
typedef mtsComponent	BaseType
Public Types inherited from mtsComponent
typedef mtsComponent	ThisType
Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Detailed Description

This is a task that has its thread provided by a callback from an external piece of software.

If the external package accepts a user-supplied 'void *' as the first parameter, then mtsTaskFromCallbackAdapter can be used; this class provides an adapter that expects the 'void *' parameter to contain a pointer to an instance of the mtsTaskFromCallbackAdapter class.

The mtsTaskFromCallback class can be used in all cases. The derived class must provide a callback function (e.g., a static function) and implement an alternate method to get the 'this' pointer. The user-created callback function should call RunInternal and return the data (if any).

One suggestion is to make the derived class a Singleton. The derived class should contain a (static) CustomCallbackAdapter function that has the correct signature. For example, if we create a derived class called MyCallbackClass:

static int MyCallbackClass::CustomCallbackAdapter(char *a, int b) { MyCallbackClass *obj = MyCallbackClass::GetInstance(); Avoid re-entrancy problems by creating a CallbackParms object on the stack and passing it to RunInternal, which already contains a software guard to prevent re-entrant calls. Alternatively, the data can be copied to class members, which can then be accessed inside the Run method. In this case, the CustomCallbackAdapter should handle the re-entrancy problems (e.g., if CustomCallbackAdapter is called again before the last call has finished, it could overwrite the previous values stored in the class members). MyCallbackClass::CallbackParms data(a,b); void *ret = RunInternal(static_cast<void *>(data)); Run method can use data.a and data.b and set the return value by calling mtsTask::SetThreadReturnValue. return static_cast<int>(ret); }

Member Typedef Documentation

◆ BaseType

typedef mtsTask mtsTaskFromCallback::BaseType

protected

Constructor & Destructor Documentation

◆ mtsTaskFromCallback() [1/2]

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

inline

Create a task with name 'name' and set the state table size. The execution of this task will rely on a callback from an external thread.

Parameters

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

Note: See note in mtsTask regarding length of string name.

See also: mtsTask, mtsTaskContinuous, mtsTaskPeriodic, mtsTaskFromSignal

◆ mtsTaskFromCallback() [2/2]

mtsTaskFromCallback::mtsTaskFromCallback ( const mtsTaskConstructorArg & arg )

inline

◆ ~mtsTaskFromCallback()

virtual mtsTaskFromCallback::~mtsTaskFromCallback ( )

inlinevirtual

Default Destructor.

Member Function Documentation

◆ Create()

void mtsTaskFromCallback::Create ( void * data = 0 )

overridevirtual

Implements mtsTask.

◆ DoCallback()

virtual void * mtsTaskFromCallback::DoCallback ( void * data = 0 )

inlinevirtual

Hook for calling RunInternal

◆ Kill()

void mtsTaskFromCallback::Kill ( void )

overridevirtual

End the task

Reimplemented from mtsTask.

◆ RunInternal()

void * mtsTaskFromCallback::RunInternal ( void * argument )

overrideprotectedvirtual

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

Implements mtsTask.

◆ Start()

void mtsTaskFromCallback::Start ( void )

overridevirtual

Start/resume execution of the task

Reimplemented from mtsComponent.

◆ StartupInternal()

void mtsTaskFromCallback::StartupInternal ( void )

overrideprotectedvirtual

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 from mtsTask.

◆ Suspend()

void mtsTaskFromCallback::Suspend ( void )

overridevirtual

Suspend the execution of the task

Reimplemented from mtsComponent.

Member Data Documentation

◆ inRunInternal

bool mtsTaskFromCallback::inRunInternal

protected

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

tmp/cisst-saw/cisst/cisstMultiTask/mtsTaskFromCallback.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseType

Constructor & Destructor Documentation

◆ mtsTaskFromCallback() [1/2]

◆ mtsTaskFromCallback() [2/2]

◆ ~mtsTaskFromCallback()

Member Function Documentation

◆ Create()

◆ DoCallback()

◆ Kill()

◆ RunInternal()

◆ Start()

◆ StartupInternal()

◆ Suspend()

Member Data Documentation

◆ inRunInternal