Activity.hpp

#ifndef ORO_ACTIVITY_HPP
#define ORO_ACTIVITY_HPP

#include "Time.hpp"
#include "RunnableInterface.hpp"
#include "ActivityInterface.hpp"
#include "os/Thread.hpp"

namespace RTT
{

    class RTT_API Activity: public ActivityInterface, public OS::Thread
    {
    public:
        using OS::Thread::run;
        using ActivityInterface::run;

        Activity(RunnableInterface* r = 0, const std::string& name ="Activity" );

        Activity(int priority, Seconds period = 0.0,
                 RunnableInterface* r = 0, const std::string& name ="Activity");

        Activity(int scheduler, int priority, Seconds period,
                 RunnableInterface* r = 0, const std::string& name ="Activity");

        virtual ~Activity();

        virtual bool start();

        virtual bool execute();

        virtual bool trigger();

        virtual bool stop();

        virtual bool isRunning() const;

        virtual bool isActive() const;

        virtual bool isPeriodic() const;

        virtual Seconds getPeriod() const;

        virtual bool setPeriod(Seconds period);

        virtual OS::ThreadInterface* thread();

        virtual bool initialize();

        virtual void step();

        virtual void loop();

        virtual bool breakLoop();

        virtual void finalize();

        bool run( int ) { RunnableInterface* d(0); return ActivityInterface::run(d); }

    };

}

#endif