Fawkes API
Fawkes Development Version
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LuaAgent Periodic Execution Thread. More...
#include "periodic_exec_thread.h"
Classes | |
class | LuaThread |
Public Member Functions | |
LuaAgentContinuousExecutionThread () | |
Constructor. | |
virtual | ~LuaAgentContinuousExecutionThread () |
Destructor. | |
virtual void | init () |
Initialize the thread. | |
virtual void | loop () |
Code to execute in the thread. | |
virtual void | finalize () |
Finalize the thread. | |
virtual void | fam_event (const char *filename, unsigned int mask) |
Event has been raised. | |
void | read_interfaces () |
Update all reading interfaces. | |
void | write_interfaces () |
Update all reading interfaces. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
LuaAgent Periodic Execution Thread.
This thread runs and controls the Lua interpreter and passes data into the execution engine. It hooks into the THINK main loop hook and expects the agent's execution function to return quickly. If you have a separate agent main loop use the concurrent execution thread.
LuaAgentContinuousExecutionThread::LuaAgentContinuousExecutionThread | ( | ) |
Constructor.
Definition at line 69 of file continuous_exec_thread.cpp.
LuaAgentContinuousExecutionThread::~LuaAgentContinuousExecutionThread | ( | ) | [virtual] |
Destructor.
Definition at line 82 of file continuous_exec_thread.cpp.
void LuaAgentContinuousExecutionThread::fam_event | ( | const char * | filename, |
unsigned int | mask | ||
) | [virtual] |
Event has been raised.
filename | name of the file that triggered the event |
mask | mask indicating the event. Currently inotify event flags are used, see inotify.h. |
Implements fawkes::FamListener.
Definition at line 264 of file continuous_exec_thread.cpp.
References fawkes::Mutex::lock(), fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::Thread::name(), fawkes::LuaContext::restart(), and fawkes::Mutex::unlock().
void LuaAgentContinuousExecutionThread::finalize | ( | ) | [virtual] |
Finalize the thread.
This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.
This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.
This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.
Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).
The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 198 of file continuous_exec_thread.cpp.
References fawkes::Interface::has_writer(), fawkes::Interface::msgq_enqueue(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::ThreadProducerAspect::thread_collector, and fawkes::ThreadCollector::remove().
void LuaAgentContinuousExecutionThread::init | ( | ) | [virtual] |
Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 115 of file continuous_exec_thread.cpp.
References fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), fawkes::Configuration::get_bool(), fawkes::Exception::append(), fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_reading(), fawkes::Interface::read(), fawkes::SkillerInterface::exclusive_controller(), fawkes::Interface::msgq_enqueue(), fawkes::LuaContext::setup_fam(), fawkes::LuaContext::get_fam(), fawkes::LuaInterfaceImporter::open_reading_interfaces(), fawkes::LuaInterfaceImporter::open_writing_interfaces(), fawkes::LuaContext::add_package_dir(), fawkes::LuaContext::add_cpackage_dir(), fawkes::LuaContext::add_package(), fawkes::LuaContext::set_string(), fawkes::LuaContext::set_usertype(), fawkes::ClockAspect::clock, fawkes::LuaContext::set_cfunction(), fawkes::LuaInterfaceImporter::add_interface(), fawkes::LuaInterfaceImporter::read_to_buffer(), fawkes::LuaInterfaceImporter::push_interfaces(), fawkes::LuaContext::set_start_script(), fawkes::ThreadProducerAspect::thread_collector, and fawkes::ThreadCollector::add().
void LuaAgentContinuousExecutionThread::loop | ( | ) | [virtual] |
Code to execute in the thread.
Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().
Reimplemented from fawkes::Thread.
Definition at line 219 of file continuous_exec_thread.cpp.
References fawkes::Mutex::lock(), fawkes::LuaInterfaceImporter::read_to_buffer(), fawkes::Interface::read(), LuaAgentContinuousExecutionThread::LuaThread::failed(), fawkes::LoggingAspect::logger, fawkes::Logger::log_error(), fawkes::Thread::name(), fawkes::ThreadProducerAspect::thread_collector, fawkes::ThreadCollector::remove(), and fawkes::Mutex::unlock().
void LuaAgentContinuousExecutionThread::read_interfaces | ( | ) |
Update all reading interfaces.
This is meant to be called from inside Lua so that the agent can update the set of interfaces at suitable points in time.
Definition at line 241 of file continuous_exec_thread.cpp.
References fawkes::Mutex::lock(), fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), fawkes::Thread::name(), fawkes::LuaInterfaceImporter::read_from_buffer(), and fawkes::Mutex::unlock().
virtual void LuaAgentContinuousExecutionThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 78 of file continuous_exec_thread.h.
void LuaAgentContinuousExecutionThread::write_interfaces | ( | ) |
Update all reading interfaces.
This is meant to be called from inside Lua so that the agent can update the set of interfaces at suitable points in time.
Definition at line 255 of file continuous_exec_thread.cpp.
References fawkes::Mutex::lock(), fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), fawkes::Thread::name(), fawkes::LuaInterfaceImporter::write(), and fawkes::Mutex::unlock().