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, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 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