Orocos Real-Time Toolkit  2.6.0
RunnableInterface.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jan 19 14:11:19 CET 2004  RunnableInterface.hpp
00003 
00004                         RunnableInterface.hpp -  description
00005                            -------------------
00006     begin                : Mon January 19 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.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             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 #ifndef CORELIB_RUNNABLE_INTERFACE_HPP
00039 #define CORELIB_RUNNABLE_INTERFACE_HPP
00040 
00041 #include "ActivityInterface.hpp"
00042 
00043 namespace RTT
00044 { namespace base {
00069     class RTT_API RunnableInterface
00070     {
00074         ActivityInterface* owner_task;
00075     public:
00084         RunnableInterface();
00085 
00089         virtual ~RunnableInterface();
00090 
00096         virtual bool initialize() = 0;
00097 
00102         virtual void step() = 0;
00103 
00109         virtual void loop();
00110 
00120         virtual bool breakLoop();
00121 
00127         virtual void finalize() = 0;
00128 
00133         virtual os::ThreadInterface* getThread() const;
00134 
00144         virtual bool hasWork();
00145 
00154         inline ActivityInterface* getActivity() const;
00155 
00163         virtual void setActivity( ActivityInterface* task );
00164     };
00165 
00166 
00167     ActivityInterface* RunnableInterface::getActivity() const { return owner_task; }
00168 }}
00169 
00170 #endif