Periodic.hpp

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#ifndef ORG_EEROS_TASK_PERIODIC_HPP_
#define ORG_EEROS_TASK_PERIODIC_HPP_

#include <vector>
#include <functional>

#include <eeros/core/Runnable.hpp>
#include <eeros/core/PeriodicCounter.hpp>

namespace eeros {
    namespace task {

        class Periodic {
        public:
            Periodic(const char *name, double period, Runnable &task, bool realtime = true, int nice = -1);
            Periodic(const char *name, double period, Runnable *task, bool realtime = true, int nice = -1);

            void addDefaultMonitor(double tolerance = 0.05);

            std::string getName();
            double getPeriod();
            Runnable& getTask();
            bool getRealtime();
            int getNice();
            void setNice(int value);

            std::vector<Periodic> before;
            std::vector<Periodic> after;

            std::vector<PeriodicCounter::MonitorFunc> monitors;

        private:
            std::string name;
            double period;
            Runnable *task;
            bool realtime;
            int nice;
        };

    }
}

#endif // ORG_EEROS_TASK_PERIODIC_HPP_