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00039 #ifndef ORO_ACTIVITY_HPP
00040 #define ORO_ACTIVITY_HPP
00041
00042 #include "Time.hpp"
00043 #include "base/RunnableInterface.hpp"
00044 #include "base/ActivityInterface.hpp"
00045 #include "os/Thread.hpp"
00046
00047 namespace RTT
00048 {
00049
00063 class RTT_API Activity
00064 : public base::ActivityInterface, public os::Thread
00065 {
00066 public:
00075 Activity(base::RunnableInterface* r = 0, const std::string& name ="Activity" );
00076
00087 Activity(int priority,
00088 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00089
00102 Activity(int priority, Seconds period,
00103 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00104
00119 Activity(int scheduler, int priority, Seconds period,
00120 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00121
00138 Activity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
00139 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00140
00144 virtual ~Activity();
00145
00146 virtual bool start();
00147
00148 virtual bool execute();
00149
00150 virtual bool trigger();
00151
00152 virtual bool stop();
00153
00154 virtual bool isRunning() const;
00155
00156 virtual bool isActive() const;
00157
00158 virtual bool isPeriodic() const;
00159
00160 virtual Seconds getPeriod() const;
00161
00162 virtual bool setPeriod(Seconds period);
00163
00164 virtual unsigned getCpuAffinity() const;
00165
00166 virtual bool setCpuAffinity(unsigned cpu);
00167
00168 virtual os::ThreadInterface* thread();
00169
00173 virtual bool initialize();
00174
00178 virtual void step();
00179
00183 virtual void loop();
00184
00188 virtual bool breakLoop();
00189
00193 virtual void finalize();
00194
00195 };
00196
00197 }
00198
00199 #endif