Orocos Real-Time Toolkit  2.5.0
SlaveActivity.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jun 26 13:25:56 CEST 2006  SlaveActivity.hpp
00003 
00004                         SlaveActivity.hpp -  description
00005                            -------------------
00006     begin                : Mon June 26 2006
00007     copyright            : (C) 2006 Peter Soetens
00008     email                : peter.soetens@fmtc.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     *
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_SLAVE_ACTIVITY_HPP
00040 #define ORO_SLAVE_ACTIVITY_HPP
00041 
00042 #include "../base/ActivityInterface.hpp"
00043 #include "../base/RunnableInterface.hpp"
00044 
00045 #ifdef ORO_PRAGMA_INTERFACE
00046 #pragma interface
00047 #endif
00048 
00049 namespace RTT
00050 { namespace extras {
00051 
00052 
00090     class RTT_API SlaveActivity
00091         :public base::ActivityInterface
00092     {
00093     public:
00099         SlaveActivity( base::ActivityInterface* master, base::RunnableInterface* run = 0 );
00100 
00107         SlaveActivity( double period, base::RunnableInterface* run = 0 );
00108 
00114         SlaveActivity( base::RunnableInterface* run = 0 );
00115 
00119         ~SlaveActivity();
00120 
00121         Seconds getPeriod() const;
00122 
00123         bool setPeriod(Seconds s);
00124 
00125         unsigned getCpuAffinity() const;
00126 
00127         bool setCpuAffinity(unsigned cpu);
00128 
00129         os::ThreadInterface* thread();
00130 
00131         bool initialize();
00132         void step();
00133         void loop();
00134         bool breakLoop();
00135         void finalize();
00136 
00142         bool start();
00143 
00144         bool stop();
00145 
00146         bool isRunning() const;
00147 
00148         bool isPeriodic() const;
00149 
00150         bool isActive() const;
00151 
00152         bool execute();
00153 
00154         bool trigger();
00155     private:
00156         base::ActivityInterface* mmaster;
00157         double mperiod;
00158         bool running;
00159         bool active;
00160 };
00161 
00162 }}
00163 
00164 
00165 #endif