poll_manager.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_POLL_MANAGER_H 00029 #define ROSCPP_POLL_MANAGER_H 00030 00031 #include "forwards.h" 00032 #include "poll_set.h" 00033 #include "common.h" 00034 #include <boost/signals.hpp> 00035 #include <boost/thread/recursive_mutex.hpp> 00036 #include <boost/thread/thread.hpp> 00037 00038 namespace ros 00039 { 00040 00041 class PollManager; 00042 typedef boost::shared_ptr<PollManager> PollManagerPtr; 00043 typedef boost::signal<void(void)> VoidSignal; 00044 typedef boost::function<void(void)> VoidFunc; 00045 00046 class ROSCPP_DECL PollManager 00047 { 00048 public: 00049 static const PollManagerPtr& instance(); 00050 00051 PollManager(); 00052 ~PollManager(); 00053 00054 PollSet& getPollSet() { return poll_set_; } 00055 00056 boost::signals::connection addPollThreadListener(const VoidFunc& func); 00057 void removePollThreadListener(boost::signals::connection c); 00058 00059 void start(); 00060 void shutdown(); 00061 private: 00062 void threadFunc(); 00063 00064 PollSet poll_set_; 00065 volatile bool shutting_down_; 00066 00067 VoidSignal poll_signal_; 00068 boost::recursive_mutex signal_mutex_; 00069 00070 boost::thread thread_; 00071 }; 00072 00073 } 00074 00075 #endif