[Rock-dev] Periodic and port_driven Task

[Christian Rauch]

Hi,

to enable the periodic triggering of the updateHook in port_driven 
tasks, the updateHook is triggered manually in an additional thread that 
is started in the startHook:

void Task::watchdog() {
     mWatchdogRun = true;
     while(mWatchdogRun) {

         mEnableTrigger = true;
         try {
 
boost::this_thread::sleep(boost::posix_time::seconds(mTimeout.toSeconds()));
         }
         catch(boost::thread_interrupted interrupt) {
             mEnableTrigger = false;
         }

         if(mEnableTrigger) {
             this->getActivity()->trigger();
         }
     }
     LOG_INFO_S<<"Watchdog closed";
}

The boost:thread::interrupt() then needs to be called if there is no new 
data on any of the port_driven ports.

I would like to know, if there are any concerns to do this manually that 
way. What happens if the updateHook gets called again, before the first 
one is finished? What happens with the data on the output ports?

Regards,
Christian


Am 22.10.2013 09:37, schrieb Sylvain Joyeux:
> On 10/21/2013 07:32 PM, Christian Rauch wrote:
>> Hi,
>>
>> how can I set a task to be periodic and port_driven at the same time?
>> E.g., having the updateHook executed periodically and additional in
>> between, when new samples arrive.
> Not possible, see the comment just before "C++ task implementation" in
> http://rock-robotics.org/stable/documentation/orogen/triggering/periodic.html
>
>
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-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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