Orocos Real-Time Toolkit  2.9.0
Activity.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Thu Oct 22 11:59:07 CEST 2009 Activity.hpp
3 
4  Activity.hpp - description
5  -------------------
6  begin : Thu October 22 2009
7  copyright : (C) 2009 Peter Soetens
8  email : peter@thesourcworks.com
9 
10  ***************************************************************************
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37 
38 
39 #ifndef ORO_ACTIVITY_HPP
40 #define ORO_ACTIVITY_HPP
41 
42 #include "Time.hpp"
45 #include "os/Thread.hpp"
46 #include "os/Mutex.hpp"
47 #include "os/Condition.hpp"
48 
49 namespace RTT
50 {
51 
71  : public base::ActivityInterface, public os::Thread
72  {
73  public:
82  Activity(base::RunnableInterface* r = 0, const std::string& name ="Activity" );
83 
94  Activity(int priority,
95  base::RunnableInterface* r = 0, const std::string& name ="Activity");
96 
109  Activity(int priority, Seconds period,
110  base::RunnableInterface* r = 0, const std::string& name ="Activity");
111 
124  Activity(int scheduler, int priority,
125  base::RunnableInterface* r = 0, const std::string& name ="Activity");
126 
141  Activity(int scheduler, int priority, Seconds period,
142  base::RunnableInterface* r = 0, const std::string& name ="Activity");
143 
160  Activity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
161  base::RunnableInterface* r = 0, const std::string& name ="Activity");
162 
166  virtual ~Activity();
167 
168  virtual bool start();
169 
170  virtual bool execute();
171 
172  virtual bool trigger();
173 
174  virtual bool timeout();
175 
176  virtual bool stop();
177 
178  virtual bool isRunning() const;
179 
180  virtual bool isActive() const;
181 
182  virtual bool isPeriodic() const;
183 
184  virtual Seconds getPeriod() const;
185 
186  virtual bool setPeriod(Seconds period);
187 
188  virtual unsigned getCpuAffinity() const;
189 
190  virtual bool setCpuAffinity(unsigned cpu);
191 
192  void setWaitPeriodPolicy(int p);
193 
194  virtual os::ThreadInterface* thread();
195 
199  virtual bool initialize();
200 
204  virtual void step();
205 
209  virtual void loop();
210 
211  virtual void work(base::RunnableInterface::WorkReason reason);
212 
216  virtual bool breakLoop();
217 
221  virtual void finalize();
222  protected:
229 
233  bool mtimeout;
236  };
237 
238 }
239 
240 #endif
double update_period
The period at which the Activity steps().
Definition: Activity.hpp:228
double Seconds
Seconds are stored as a double precision float.
Definition: Time.hpp:53
A Thread object executes user code in its own thread.
Definition: Thread.hpp:109
A class for running a certain piece of code in a thread.
bool mstopRequested
Definition: Activity.hpp:234
#define RTT_API
Definition: rtt-config.h:97
An object oriented wrapper around a condition variable.
Definition: Condition.hpp:60
A thread which is being run.
Interface to start/stop and query a Activity.
An Activity executes a RunnableInterface object in a (periodic) thread.
Definition: Activity.hpp:70
os::Condition msg_cond
Definition: Activity.hpp:224
An object oriented wrapper around a non recursive mutex.
Definition: Mutex.hpp:92
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
os::Mutex msg_lock
Definition: Activity.hpp:223
bool mtimeout
When set to true, a next cycle will be a TimeOut cycle.
Definition: Activity.hpp:233