Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038
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
00117 Activity(int scheduler, int priority,
00118 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00119
00134 Activity(int scheduler, int priority, Seconds period,
00135 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00136
00153 Activity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
00154 base::RunnableInterface* r = 0, const std::string& name ="Activity");
00155
00159 virtual ~Activity();
00160
00161 virtual bool start();
00162
00163 virtual bool execute();
00164
00165 virtual bool trigger();
00166
00167 virtual bool stop();
00168
00169 virtual bool isRunning() const;
00170
00171 virtual bool isActive() const;
00172
00173 virtual bool isPeriodic() const;
00174
00175 virtual Seconds getPeriod() const;
00176
00177 virtual bool setPeriod(Seconds period);
00178
00179 virtual unsigned getCpuAffinity() const;
00180
00181 virtual bool setCpuAffinity(unsigned cpu);
00182
00183 virtual os::ThreadInterface* thread();
00184
00188 virtual bool initialize();
00189
00193 virtual void step();
00194
00198 virtual void loop();
00199
00203 virtual bool breakLoop();
00204
00208 virtual void finalize();
00209
00210 };
00211
00212 }
00213
00214 #endif