Activity.hpp

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/***************************************************************************
  tag: Peter Soetens  Thu Oct 22 11:59:07 CEST 2009  Activity.hpp

                        Activity.hpp -  description
                           -------------------
    begin                : Thu October 22 2009
    copyright            : (C) 2009 Peter Soetens
    email                : peter@thesourcworks.com

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   instantiate templates or use macros or inline functions from this     *
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#ifndef ORO_ACTIVITY_HPP
#define ORO_ACTIVITY_HPP

#include "Time.hpp"
#include "base/RunnableInterface.hpp"
#include "base/ActivityInterface.hpp"
#include "os/Thread.hpp"
#include "os/Mutex.hpp"
#include "os/Condition.hpp"

namespace RTT
{

    class RTT_API Activity
        : public base::ActivityInterface, public os::Thread
    {
    public:
        Activity(base::RunnableInterface* r = 0, const std::string& name ="Activity" );

        Activity(int priority,
                 base::RunnableInterface* r = 0, const std::string& name ="Activity");

        Activity(int priority, Seconds period,
                 base::RunnableInterface* r = 0, const std::string& name ="Activity");

        Activity(int scheduler, int priority,
                 base::RunnableInterface* r = 0, const std::string& name ="Activity");

        Activity(int scheduler, int priority, Seconds period,
                 base::RunnableInterface* r = 0, const std::string& name ="Activity");

        Activity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
                 base::RunnableInterface* r = 0, const std::string& name ="Activity");

        virtual ~Activity();

        virtual bool start();

        virtual bool execute();

        virtual bool trigger();

        virtual bool timeout();

        virtual bool stop();

        virtual bool isRunning() const;

        virtual bool isActive() const;

        virtual bool isPeriodic() const;

        virtual Seconds getPeriod() const;

        virtual bool setPeriod(Seconds period);

        virtual unsigned getCpuAffinity() const;

        virtual bool setCpuAffinity(unsigned cpu);

        void setWaitPeriodPolicy(int p);

        virtual os::ThreadInterface* thread();

        virtual bool initialize();

        virtual void step();

        virtual void loop();

        virtual void work(base::RunnableInterface::WorkReason reason);

        virtual bool breakLoop();

        virtual void finalize();
    protected:
        os::Mutex msg_lock;
        os::Condition msg_cond;
        double update_period;

        bool mtimeout;
        bool mstopRequested;
        int mwaitpolicy;
    };

}

#endif