PublisherPeriodic.h

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00001 // -*- C++ -*-
00020 #ifndef PublisherPeriodic_h
00021 #define PublisherPeriodic_h
00022 
00023 #include <rtm/RTC.h>
00024 
00025 #include <ace/Task.h>
00026 #include <ace/Synch.h>
00027 #include <rtm/PublisherBase.h>
00028 
00029 namespace RTC
00030 {
00031   class InPortConsumer;
00032   class Properties;
00050   class PublisherPeriodic
00051     : public PublisherBase,
00052       public ACE_Task<ACE_MT_SYNCH>
00053   {
00054     //    class InPortConsumer;
00055     
00056   public:
00086     PublisherPeriodic(InPortConsumer* consumer,
00087                       const Properties& property);
00088     
00102     virtual ~PublisherPeriodic();
00103     
00117     virtual void update();
00118     
00132     virtual int svc(void);
00133     
00147     virtual int open(void *args);
00148     
00167     virtual void release();
00168     
00169   protected:
00170     
00171   private:
00172     InPortConsumer* m_consumer;
00173     bool m_running;
00174     unsigned int m_usec;
00175   };
00176 };     // namespace RTC
00177 #endif // PublisherPeriodic_h
00178 

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