Orocos Real-Time Toolkit
2.5.0
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00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jan 19 14:11:19 CET 2004 RunnableActivityInterface.hpp 00003 00004 ActivityInterface.hpp - description 00005 ------------------- 00006 begin : Mon January 19 2004 00007 copyright : (C) 2004 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 #ifndef ORO_ACTIVITY_INTERFACE_HPP 00039 #define ORO_ACTIVITY_INTERFACE_HPP 00040 00041 #include "../Time.hpp" 00042 #include "../os/ThreadInterface.hpp" 00043 #include <boost/shared_ptr.hpp> 00044 #include "rtt-base-fwd.hpp" 00045 00046 namespace RTT 00047 { namespace base { 00048 00062 class RTT_API ActivityInterface 00063 { 00064 protected: 00065 RunnableInterface* runner; 00066 00073 void disableRun(RunnableInterface* caller) { if (caller == runner) runner = 0; } 00074 public: 00075 friend class RunnableInterface; 00076 00077 typedef boost::shared_ptr<ActivityInterface> shared_ptr; 00078 00079 ActivityInterface() : runner(0) {} 00080 00081 ActivityInterface(RunnableInterface* run); 00082 00083 virtual ~ActivityInterface(); 00084 00092 virtual bool run( RunnableInterface* r ); 00093 00104 virtual bool start() = 0; 00105 00115 virtual bool stop() = 0; 00116 00128 virtual bool isRunning() const = 0; 00129 00138 virtual bool isActive() const = 0; 00139 00145 virtual Seconds getPeriod() const = 0; 00146 00153 virtual bool isPeriodic() const = 0; 00154 00162 virtual bool setPeriod(Seconds s) = 0; 00163 00164 00170 virtual unsigned getCpuAffinity() const = 0; 00171 00176 virtual bool setCpuAffinity(unsigned cpu) = 0; 00177 00193 virtual bool execute() = 0; 00194 00212 virtual bool trigger() = 0; 00213 00218 virtual os::ThreadInterface* thread() = 0; 00219 }; 00220 00221 }} 00222 00223 #endif