RTPreemptEC.h

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// -*- C++ -*-
#ifndef OPENRTM_RTPREEMPTEC_H
#define OPENRTM_RTPREEMPTEC_H

#include <rtm/RTC.h>
#include <rtm/Manager.h>
#include <rtm/PeriodicExecutionContext.h>

namespace OpenRTM
{
  class RTPreemptEC
    : public virtual ::RTC::PeriodicExecutionContext
  {
  public:
    RTPreemptEC();

    virtual ~RTPreemptEC();

    virtual int svc(void);

    template <class T>
    void getProperty(coil::Properties& prop, const char* key, T& value)
    {
    if (prop.findNode(key) != 0)
      {
        T tmp;
        if (coil::stringTo(tmp, prop[key].c_str()))
          {
            value = tmp;
          }
      }
    }

  private:
    int m_priority;
    int m_policy;
    int m_waitoffset;
  };
};

extern "C"
{
  void DLL_EXPORT RTPreemptECInit(RTC::Manager* manager);
};

#endif // OPENRTM_RTPREEMPTEC_H