00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Johannes Meyer, TU Darmstadt 00005 * Copyright (c) 2013, Intermodalics BVBA 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of TU Darmstadt and Intermodalics BVBA 00019 * nor the names of its contributors may be 00020 * used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * Copyright (c) 2014, Jonathan Bohren, The Johns Hopkins University 00037 * - Generalized for multiple time sources 00038 * - Integrated with rtt_rosclock package 00039 *********************************************************************/ 00040 00041 00042 #ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_H 00043 #define __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_H 00044 00045 #include <rtt/base/ActivityInterface.hpp> 00046 00047 #include <rtt/os/TimeService.hpp> 00048 #include <rtt/os/Mutex.hpp> 00049 00050 #include <list> 00051 #include <string> 00052 00053 namespace rtt_rosclock { 00054 00055 class SimClockActivityManager; 00056 00057 class SimClockActivity : public RTT::base::ActivityInterface 00058 { 00059 public: 00060 SimClockActivity( 00061 RTT::base::RunnableInterface* run = 0, 00062 const std::string& name = "SimClockActivity"); 00063 00064 SimClockActivity( 00065 RTT::Seconds period, 00066 RTT::base::RunnableInterface* r = 0, 00067 const std::string& name ="SimClockActivity"); 00068 00069 virtual ~SimClockActivity(); 00070 00071 virtual RTT::Seconds getPeriod() const; 00072 virtual bool setPeriod(RTT::Seconds s); 00073 00074 virtual unsigned getCpuAffinity() const; 00075 virtual bool setCpuAffinity(unsigned cpu); 00076 00077 virtual RTT::os::ThreadInterface* thread(); 00078 00079 virtual bool initialize(); 00080 virtual void step(); 00081 virtual void loop(); 00082 virtual bool breakLoop(); 00083 virtual void finalize(); 00084 00085 virtual bool start(); 00086 virtual bool stop(); 00087 00088 virtual bool isRunning() const; 00089 virtual bool isPeriodic() const; 00090 virtual bool isActive() const; 00091 00092 virtual bool execute(); 00093 virtual bool trigger(); 00094 00095 virtual RTT::os::TimeService::ticks getLastExecutionTicks() const; 00096 00097 private: 00098 std::string name_; 00099 00101 RTT::Seconds period_; 00102 00104 bool running_; 00105 00107 bool active_; 00108 00110 RTT::os::TimeService::ticks last_; 00111 00113 boost::shared_ptr<SimClockActivityManager> manager_; 00114 }; 00115 } 00116 00117 #endif // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_H