00001 #ifndef ORO_TIMER_COMPONENT_HPP
00002 #define ORO_TIMER_COMPONENT_HPP
00003
00004
00005 #include <rtt/os/TimeService.hpp>
00006 #include <rtt/TaskContext.hpp>
00007 #include <rtt/os/Timer.hpp>
00008 #include <rtt/OutputPort.hpp>
00009
00010 #include <rtt/RTT.hpp>
00011 #include <ocl/OCL.hpp>
00012
00013 namespace OCL
00014 {
00021 class TimerComponent
00022 : public RTT::TaskContext
00023 {
00024 protected:
00028 struct TimeoutCatcher : public os::Timer {
00029 RTT::OutputPort<RTT::os::Timer::TimerId>& me;
00030 TimeoutCatcher(RTT::os::Timer::TimerId max_timers, RTT::OutputPort<RTT::os::Timer::TimerId>& e) :
00031 os::Timer(max_timers, ORO_SCHED_RT, os::HighestPriority), me(e)
00032 {}
00033 virtual void timeout(os::Timer::TimerId id) {
00034 me.write(id);
00035 }
00036 };
00037
00038 TimeoutCatcher mtimer;
00039 OutputPort<RTT::os::Timer::TimerId> mtimeoutEvent;
00040
00045 bool startHook();
00046 void updateHook();
00047 void stopHook();
00048
00052 RTT::Operation<bool(RTT::os::Timer::TimerId)> waitForCommand;
00053
00057 RTT::Operation<bool(RTT::os::Timer::TimerId, double)> waitCommand;
00058
00062 bool waitFor(RTT::os::Timer::TimerId id);
00063
00067 bool wait(RTT::os::Timer::TimerId id, double seconds);
00068
00072 bool isTimerExpired(RTT::os::Timer::TimerId id) const;
00073 public:
00077 TimerComponent( std::string name = "os::Timer" );
00078
00079 virtual ~TimerComponent();
00080 };
00081
00082 }
00083
00084 #endif
