Orocos Real-Time Toolkit  2.5.0
CoreRunnableInterface.cpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Wed Jan 18 14:11:39 CET 2006  CoreRunnableInterface.cxx
00003 
00004                         CoreRunnableInterface.cxx -  description
00005                            -------------------
00006     begin                : Wed January 18 2006
00007     copyright            : (C) 2006 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.be
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     *
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00020  *   produce an executable, this file does not by itself cause the         *
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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  *                                                                         *
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00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
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00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00035  *                                                                         *
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00037 
00038 
00039 
00040 #include "RunnableInterface.hpp"
00041 #include "../Logger.hpp"
00042 #include <cassert>
00043 
00044 namespace RTT {
00045     using namespace base;
00046 
00047     RunnableInterface::~RunnableInterface() {
00048         if ( this->owner_task && this->owner_task->isRunning() ) {
00049             Logger::In in("~RunnableInterface()");
00050             log(Critical)
00051             <<"Activity still running, but RunnableInterface destroyed! Stop the task"
00052             " before deleting this object. Crash may be imminent."<<endlog();
00053         }
00054         if ( this->owner_task )
00055             this->owner_task->disableRun(this);
00056     }
00057 
00058     RunnableInterface::RunnableInterface() : owner_task(0) {}
00059 
00060     void RunnableInterface::loop() { this->step(); }
00061 
00062     bool RunnableInterface::breakLoop() { return false; }
00063 
00064 
00065     bool RunnableInterface::hasWork() {
00066         return false;
00067     }
00068 
00069     void RunnableInterface::setActivity( ActivityInterface* task ) {
00070         if (owner_task) {
00071             // notify old owner he's out.
00072             owner_task->disableRun(this);
00073         }
00074 
00075         owner_task = task;
00076     }
00077 
00078     os::ThreadInterface* RunnableInterface::getThread() const {
00079         if (owner_task)
00080             return owner_task->thread();
00081         return 0;
00082     }
00083 
00084 }