PeriodicActivity.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:19 CET 2004  PeriodicActivity.hpp

                        PeriodicActivity.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_PERIODIC_ACTIVITY_HPP
#define ORO_PERIODIC_ACTIVITY_HPP

#include "../base/RunnableInterface.hpp"

#include "../Time.hpp"
#include "../base/ActivityInterface.hpp"
#include "TimerThread.hpp"

#ifdef ORO_PRAGMA_INTERFACE
#pragma interface
#endif

namespace RTT
{ namespace extras {


    class RTT_API PeriodicActivity
        : public base::ActivityInterface
    {
    public:

        PeriodicActivity(int priority, Seconds period, base::RunnableInterface* r=0 );

        PeriodicActivity(int scheduler, int priority, Seconds period, base::RunnableInterface* r=0 );

        PeriodicActivity(int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface* r=0 );


        PeriodicActivity(TimerThreadPtr thread, base::RunnableInterface* r=0);

        PeriodicActivity(Seconds period, TimerThreadPtr thread, base::RunnableInterface* r=0 );

        PeriodicActivity(secs sec, nsecs nsec, TimerThreadPtr thread, base::RunnableInterface* r=0 );

        virtual ~PeriodicActivity();

        virtual bool start();

        virtual bool execute();

        virtual bool trigger();

        virtual bool stop();

        virtual bool isRunning() const;

        virtual bool isActive() const;

        virtual bool isPeriodic() const;

        virtual Seconds getPeriod() const;

        virtual bool setPeriod(Seconds s);

        virtual unsigned getCpuAffinity() const;

        virtual bool setCpuAffinity(unsigned cpu);

        virtual os::ThreadInterface* thread();

        virtual bool initialize();

        virtual void step();

        virtual void finalize();

    protected:
        void init();

        bool running;

        bool active;

        TimerThreadPtr thread_;
    };

}}

#endif