SlaveActivity.hpp
Go to the documentation of this file.
1 /***************************************************************************
2  tag: Peter Soetens Mon Jun 26 13:25:56 CEST 2006 SlaveActivity.hpp
3 
4  SlaveActivity.hpp - description
5  -------------------
6  begin : Mon June 26 2006
7  copyright : (C) 2006 Peter Soetens
8  email : peter.soetens@fmtc.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU General Public *
13  * License as published by the Free Software Foundation; *
14  * version 2 of the License. *
15  * *
16  * As a special exception, you may use this file as part of a free *
17  * software library without restriction. Specifically, if other files *
18  * instantiate templates or use macros or inline functions from this *
19  * file, or you compile this file and link it with other files to *
20  * produce an executable, this file does not by itself cause the *
21  * resulting executable to be covered by the GNU General Public *
22  * License. This exception does not however invalidate any other *
23  * reasons why the executable file might be covered by the GNU General *
24  * Public License. *
25  * *
26  * This library is distributed in the hope that it will be useful, *
27  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
28  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
29  * Lesser General Public License for more details. *
30  * *
31  * You should have received a copy of the GNU General Public *
32  * License along with this library; if not, write to the Free Software *
33  * Foundation, Inc., 59 Temple Place, *
34  * Suite 330, Boston, MA 02111-1307 USA *
35  * *
36  ***************************************************************************/
37 
38 
39 #ifndef ORO_SLAVE_ACTIVITY_HPP
40 #define ORO_SLAVE_ACTIVITY_HPP
41 
42 #include "../base/ActivityInterface.hpp"
43 #include "../base/RunnableInterface.hpp"
44 
45 #ifdef ORO_PRAGMA_INTERFACE
46 #pragma interface
47 #endif
48 
49 namespace RTT
50 { namespace extras {
51 
52 
90  class RTT_API SlaveActivity
92  {
93  public:
100 
107  SlaveActivity( double period, base::RunnableInterface* run = 0 );
108 
115 
119  ~SlaveActivity();
120 
121  Seconds getPeriod() const;
122 
123  bool setPeriod(Seconds s);
124 
125  unsigned getCpuAffinity() const;
126 
127  bool setCpuAffinity(unsigned cpu);
128 
129  os::ThreadInterface* thread();
130 
131  virtual bool initialize();
132  virtual void step();
133  virtual void work(base::RunnableInterface::WorkReason reason);
134  virtual void loop();
135  virtual bool breakLoop();
136  virtual void finalize();
137 
143  bool start();
144 
145  bool stop();
146 
147  bool isRunning() const;
148 
149  bool isPeriodic() const;
150 
151  bool isActive() const;
152 
153  bool execute();
154 
155  bool trigger();
156 
157  bool timeout();
158 
159  private:
161  double mperiod;
162  bool running;
163  bool active;
164 
166 };
167 
168 }}
169 
170 
171 #endif
double Seconds
Definition: os/Time.hpp:53
base::ActivityInterface * mmaster
A class for running a certain piece of code in a thread.
static RTT_UNUSED bool setCpuAffinity(ThreadInterface *thread, const std::bitset< 16 > &cpu_affinity)
Interface to start/stop and query a Activity.
base::DisposableInterface * mtrigger
An object that is executable and is freed after execution.
static std::bitset< 16 > getCpuAffinity(ThreadInterface *thread)
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:53
An base::ActivityInterface implementation which executes &#39;step&#39; upon the invocation of &#39;execute()&#39;...
static bool trigger(TaskContext *tc)


rtt
Author(s): RTT Developers
autogenerated on Tue Jun 25 2019 19:33:36