rtt_rosclock_sim_clock_activity.h

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/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Johannes Meyer, TU Darmstadt
 *  Copyright (c) 2013, Intermodalics BVBA
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of TU Darmstadt and Intermodalics BVBA
 *     nor the names of its contributors may be
 *     used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Copyright (c) 2014, Jonathan Bohren, The Johns Hopkins University
 *  - Generalized for multiple time sources
 *  - Integrated with rtt_rosclock package
 *********************************************************************/


#ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_H
#define __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_H

#include <rtt/base/ActivityInterface.hpp>
#include <rtt/base/RunnableInterface.hpp>

#include <rtt/os/TimeService.hpp>
#include <rtt/os/Mutex.hpp>

#include <list>
#include <string>

namespace rtt_rosclock {

  class SimClockActivityManager;

  class SimClockActivity : public RTT::base::ActivityInterface
  {
  public:
    SimClockActivity(
        RTT::base::RunnableInterface* run = 0,
        const std::string& name = "SimClockActivity");

    SimClockActivity(
        RTT::Seconds period,
        RTT::base::RunnableInterface* r = 0,
        const std::string& name ="SimClockActivity");

    virtual ~SimClockActivity();

    virtual RTT::Seconds getPeriod() const;
    virtual bool isPeriodic() const;
    virtual bool setPeriod(RTT::Seconds s);

    virtual unsigned getCpuAffinity() const;
    virtual bool setCpuAffinity(unsigned cpu);

    virtual RTT::os::ThreadInterface* thread();

    virtual bool initialize();
    virtual void step();
#if defined(RTT_VERSION_GTE)
#if RTT_VERSION_GTE(2,9,0)
    virtual void work(RTT::base::RunnableInterface::WorkReason);
#endif
#endif
    virtual void loop();
    virtual bool breakLoop();
    virtual void finalize();

    virtual bool start();
    virtual bool stop();

    virtual bool isRunning() const;
    virtual bool isActive() const;

    virtual bool execute();
    virtual bool trigger();
    virtual bool timeout();

    virtual RTT::os::TimeService::ticks getLastExecutionTicks() const;

  private:
    std::string name_;

    RTT::Seconds period_;

    bool running_;

    bool active_;

    RTT::os::TimeService::ticks last_;

    boost::shared_ptr<SimClockActivityManager> manager_;
  };
}

#endif  // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_H