SequentialActivity.hpp

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/***************************************************************************
  tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  SequentialActivity.hpp

                        SequentialActivity.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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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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#ifndef ORO_SEQUENTIAL_ACTIVITY_HPP
#define ORO_SEQUENTIAL_ACTIVITY_HPP

#include "../base/ActivityInterface.hpp"
#include "../base/RunnableInterface.hpp"
#include "../os/Mutex.hpp"

namespace RTT
{ namespace extras {


    class RTT_API SequentialActivity
        :public base::ActivityInterface
    {
    public:
        SequentialActivity( base::RunnableInterface* run = 0 );

        ~SequentialActivity();

        Seconds getPeriod() const;

        bool setPeriod(Seconds s);

        unsigned getCpuAffinity() const;

        bool setCpuAffinity(unsigned cpu);

        os::ThreadInterface* thread();

        bool initialize();
        void step();
        void loop();
        bool breakLoop();
        void finalize();

        bool start();

        bool stop();

        bool isRunning() const;

        bool isPeriodic() const;

        bool isActive() const;

        bool execute();

        bool trigger();
    private:
        bool running;
        bool active;
        os::Mutex execution_lock;
};

}}


#endif