Orocos Real-Time Toolkit
2.6.0
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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, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 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