Orocos Real-Time Toolkit  2.6.0
ActivityInterface.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jan 19 14:11:19 CET 2004  RunnableActivityInterface.hpp
00003 
00004                         ActivityInterface.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             *
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 #ifndef ORO_ACTIVITY_INTERFACE_HPP
00039 #define ORO_ACTIVITY_INTERFACE_HPP
00040 
00041 #include "../Time.hpp"
00042 #include "../os/ThreadInterface.hpp"
00043 #include <boost/shared_ptr.hpp>
00044 #include "rtt-base-fwd.hpp"
00045 
00046 namespace RTT
00047 { namespace base {
00048 
00062     class RTT_API ActivityInterface
00063     {
00064     protected:
00065         RunnableInterface* runner;
00066 
00073         void disableRun(RunnableInterface* caller) { if (caller == runner) runner = 0; }
00074     public:
00075         friend class RunnableInterface;
00076 
00077         typedef boost::shared_ptr<ActivityInterface> shared_ptr;
00078 
00079         ActivityInterface() : runner(0) {}
00080 
00081         ActivityInterface(RunnableInterface* run);
00082 
00083         virtual ~ActivityInterface();
00084 
00092         virtual bool run( RunnableInterface* r );
00093 
00104         virtual bool start() = 0;
00105 
00115         virtual bool stop() = 0;
00116 
00128         virtual bool isRunning() const = 0;
00129 
00138         virtual bool isActive() const = 0;
00139 
00145         virtual Seconds getPeriod() const = 0;
00146 
00153         virtual bool isPeriodic() const = 0;
00154 
00162         virtual bool setPeriod(Seconds s)  = 0;
00163 
00164 
00170         virtual unsigned getCpuAffinity() const = 0;
00171 
00176         virtual bool setCpuAffinity(unsigned cpu)  = 0;
00177 
00193         virtual bool execute() = 0;
00194 
00212         virtual bool trigger() = 0;
00213 
00218         virtual os::ThreadInterface* thread() = 0;
00219     };
00220 
00221 }}
00222 
00223 #endif