SlaveActivity

Fixed bug in which case operations within Task's were not called anymore
if the task is not running, and a slave of another one.

rtt/ExecutionEngine.cpp

@@ -238,6 +238,17 @@ namespace RTT
             msg_cond.broadcast(); // required for waitForMessages() (3rd party thread)
     }
 
+    void ExecutionEngine::takeoverMessages( ExecutionEngine *remote )
+    {
+        DisposableInterface* com(0);
+        {
+            while ( remote->mqueue->dequeue( com ) ) {
+                assert( com );
+                mqueue->enqueue( com );
+            }
+        }
+    }
+
     bool ExecutionEngine::process( DisposableInterface* c )
     {
         if ( c && this->getActivity() ) {

rtt/ExecutionEngine.hpp

@@ -182,6 +182,13 @@ namespace RTT
          * Set the 'owner' task in the exception state.
          */
         void setExceptionTask();
+
+        /**
+         * this function is mentioned for activietes that are not running by her own
+         * but need to push messages to this execution engine, like SlaveActivity
+         */
+        void takeoverMessages(ExecutionEngine *remote);
+
     protected:
         /**
          * Call this if you wish to block on a message arriving in the Execution Engine.

rtt/base/ActivityInterface.cpp

@@ -67,4 +67,8 @@ bool ActivityInterface::run(RunnableInterface* _r)
     return true;
 }
 
+RunnableInterface* ActivityInterface::getRunner()
+{
+    return runner;
+}
 

rtt/base/ActivityInterface.hpp

@@ -216,6 +216,12 @@ namespace RTT
          * run this activity. Will not be null.
          */
         virtual os::ThreadInterface* thread() = 0;
+
+        /**
+         * Returns the current RunnableInterface for this
+         */
+        virtual RunnableInterface* getRunner();
+
     };
 
 }}

rtt/extras/SlaveActivity.cpp

@@ -39,6 +39,7 @@
 #include "SlaveActivity.hpp"
 #include "../os/MainThread.hpp"
 #include "Logger.hpp"
+#include <rtt/ExecutionEngine.hpp>
 
 namespace RTT {
     using namespace extras;
@@ -178,8 +179,20 @@ namespace RTT {
 
     bool SlaveActivity::trigger()
     {
-        if (mmaster)
+        ExecutionEngine *master = dynamic_cast<ExecutionEngine*>( mmaster->getRunner() );
+        ExecutionEngine * r= dynamic_cast<ExecutionEngine*>( runner );
+        if(!master || !r){
+            Logger::log() << Logger::Fatal << " SlaveActivity: cannot push messages to another engine, current engine is unsupported." << Logger::endl;
+            return false;
+        }else{
+            master->takeoverMessages( r );
+        }
+
+        if(mmaster)
+        {
             return mmaster->trigger();
+        }
+
         return false;
     }