SlaveActivity.hpp

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/***************************************************************************
  tag: Peter Soetens  Mon Jun 26 13:25:56 CEST 2006  SlaveActivity.hpp

                        SlaveActivity.hpp -  description
                           -------------------
    begin                : Mon June 26 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
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 *   Public License.                                                       *
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 ***************************************************************************/


#ifndef ORO_SLAVE_ACTIVITY_HPP
#define ORO_SLAVE_ACTIVITY_HPP

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

#ifdef ORO_PRAGMA_INTERFACE
#pragma interface
#endif

namespace RTT
{ namespace extras {


    class RTT_API SlaveActivity
        :public base::ActivityInterface
    {
    public:
        SlaveActivity( base::ActivityInterface* master, base::RunnableInterface* run = 0 );

        SlaveActivity( double period, base::RunnableInterface* run = 0 );

        SlaveActivity( base::RunnableInterface* run = 0 );

        ~SlaveActivity();

        Seconds getPeriod() const;

        bool setPeriod(Seconds s);

        unsigned getCpuAffinity() const;

        bool setCpuAffinity(unsigned cpu);

        os::ThreadInterface* thread();

        base::ActivityInterface *getMaster() const;

        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:
        base::ActivityInterface* mmaster;
        double mperiod;
        bool running;
        bool active;
};

}}


#endif