Orocos Real-Time Toolkit  2.6.0
Activity.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:07 CEST 2009  Activity.hpp
00003 
00004                         Activity.hpp -  description
00005                            -------------------
00006     begin                : Thu October 22 2009
00007     copyright            : (C) 2009 Peter Soetens
00008     email                : peter@thesourcworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_ACTIVITY_HPP
00040 #define ORO_ACTIVITY_HPP
00041 
00042 #include "Time.hpp"
00043 #include "base/RunnableInterface.hpp"
00044 #include "base/ActivityInterface.hpp"
00045 #include "os/Thread.hpp"
00046 
00047 namespace RTT
00048 {
00049 
00063     class RTT_API Activity
00064         : public base::ActivityInterface, public os::Thread
00065     {
00066     public:
00075         Activity(base::RunnableInterface* r = 0, const std::string& name ="Activity" );
00076 
00087         Activity(int priority,
00088                  base::RunnableInterface* r = 0, const std::string& name ="Activity");
00089 
00102         Activity(int priority, Seconds period,
00103                  base::RunnableInterface* r = 0, const std::string& name ="Activity");
00104 
00119         Activity(int scheduler, int priority, Seconds period,
00120                  base::RunnableInterface* r = 0, const std::string& name ="Activity");
00121 
00138         Activity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
00139                  base::RunnableInterface* r = 0, const std::string& name ="Activity");
00140 
00144         virtual ~Activity();
00145 
00146         virtual bool start();
00147 
00148         virtual bool execute();
00149 
00150         virtual bool trigger();
00151 
00152         virtual bool stop();
00153 
00154         virtual bool isRunning() const;
00155 
00156         virtual bool isActive() const;
00157 
00158         virtual bool isPeriodic() const;
00159 
00160         virtual Seconds getPeriod() const;
00161 
00162         virtual bool setPeriod(Seconds period);
00163 
00164         virtual unsigned getCpuAffinity() const;
00165 
00166         virtual bool setCpuAffinity(unsigned cpu);
00167 
00168         virtual os::ThreadInterface* thread();
00169 
00173         virtual bool initialize();
00174 
00178         virtual void step();
00179 
00183         virtual void loop();
00184 
00188         virtual bool breakLoop();
00189 
00193         virtual void finalize();
00194 
00195     };
00196 
00197 }
00198 
00199 #endif