PeriodicActivity.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:19 CET 2004  PeriodicActivity.hpp 

                        PeriodicActivity.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_PERIODIC_ACTIVITY_HPP
#define ORO_PERIODIC_ACTIVITY_HPP

#include "RunnableInterface.hpp"

#include "Time.hpp"
#include "ActivityInterface.hpp"
#include "TimerThread.hpp"

#ifdef ORO_PRAGMA_INTERFACE
#pragma interface
#endif

namespace RTT
{

    class PeriodicActivity
        : public ActivityInterface
    {
    public:

        PeriodicActivity(int priority, Seconds period, RunnableInterface* r=0 );

        PeriodicActivity(int scheduler, int priority, Seconds period, RunnableInterface* r=0 );


        PeriodicActivity(TimerThreadPtr thread, RunnableInterface* r=0);

        PeriodicActivity(Seconds period, TimerThreadPtr thread, RunnableInterface* r=0 );

        PeriodicActivity(secs sec, nsecs nsec, TimerThreadPtr thread, RunnableInterface* r=0 );

        virtual ~PeriodicActivity();
           
        bool run( RunnableInterface* r );

        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 OS::ThreadInterface* thread();

        virtual bool initialize();
        
        virtual void step();
        
        virtual void finalize();

    protected:
        void init();

        RunnableInterface* runner;

        bool running;

        bool active;

        TimerThreadPtr thread_;
    };

}

#endif

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