Orocos Real-Time Toolkit  2.9.0
SlaveActivity.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Mon Jun 26 13:25:56 CEST 2006 SlaveActivity.hpp
3 
4  SlaveActivity.hpp - description
5  -------------------
6  begin : Mon June 26 2006
7  copyright : (C) 2006 Peter Soetens
8  email : peter.soetens@fmtc.be
9 
10  ***************************************************************************
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37 
38 
39 #ifndef ORO_SLAVE_ACTIVITY_HPP
40 #define ORO_SLAVE_ACTIVITY_HPP
41 
42 #include "../base/ActivityInterface.hpp"
43 #include "../base/RunnableInterface.hpp"
44 
45 #ifdef ORO_PRAGMA_INTERFACE
46 #pragma interface
47 #endif
48 
49 namespace RTT
50 { namespace extras {
51 
52 
92  {
93  public:
100 
107  SlaveActivity( double period, base::RunnableInterface* run = 0 );
108 
115 
119  ~SlaveActivity();
120 
121  Seconds getPeriod() const;
122 
123  bool setPeriod(Seconds s);
124 
125  unsigned getCpuAffinity() const;
126 
127  bool setCpuAffinity(unsigned cpu);
128 
129  os::ThreadInterface* thread();
130 
131  base::ActivityInterface *getMaster() const;
132 
133  virtual bool initialize();
134  virtual void step();
135  virtual void work(base::RunnableInterface::WorkReason reason);
136  virtual void loop();
137  virtual bool breakLoop();
138  virtual void finalize();
139 
145  bool start();
146 
147  bool stop();
148 
149  bool isRunning() const;
150 
151  bool isPeriodic() const;
152 
153  bool isActive() const;
154 
155  bool execute();
156 
157  bool trigger();
158 
159  bool timeout();
160  private:
161  base::ActivityInterface* mmaster;
162  double mperiod;
163  bool running;
164  bool active;
165 };
166 
167 }}
168 
169 
170 #endif
double Seconds
Seconds are stored as a double precision float.
Definition: Time.hpp:53
A class for running a certain piece of code in a thread.
#define RTT_API
Definition: rtt-config.h:97
A thread which is being run.
Interface to start/stop and query a Activity.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
An base::ActivityInterface implementation which executes 'step' upon the invocation of 'execute()'...