roscpp: roscpp: poll_set.h Source File

00001 /*
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00034 
00035 #ifndef ROSCPP_POLL_SET_H
00036 #define ROSCPP_POLL_SET_H
00037 
00038 #include <vector>
00039 #include "io.h"
00040 #include "common.h"
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/function.hpp>
00043 #include <boost/thread/mutex.hpp>
00044 
00045 namespace ros
00046 {
00047 
00048 class Transport;
00049 typedef boost::shared_ptr<Transport> TransportPtr;
00050 
00057 class ROSCPP_DECL PollSet
00058 {
00059 public:
00060   PollSet();
00061   ~PollSet();
00062 
00063   typedef boost::function<void(int)> SocketUpdateFunc;
00073   bool addSocket(int sock, const SocketUpdateFunc& update_func, const TransportPtr& transport = TransportPtr());
00080   bool delSocket(int sock);
00081 
00089   bool addEvents(int sock, int events);
00097   bool delEvents(int sock, int events);
00098 
00111   void update(int poll_timeout);
00112 
00117   void signal();
00118 
00119 private:
00123   void createNativePollset();
00124 
00128   void onLocalPipeEvents(int events);
00129 
00130   struct SocketInfo
00131   {
00132     TransportPtr transport_;
00133     SocketUpdateFunc func_;
00134     int fd_;
00135     int events_;
00136   };
00137   typedef std::map<int, SocketInfo> M_SocketInfo;
00138   M_SocketInfo socket_info_;
00139   boost::mutex socket_info_mutex_;
00140   bool sockets_changed_;
00141 
00142   boost::mutex just_deleted_mutex_;
00143   typedef std::vector<int> V_int;
00144   V_int just_deleted_;
00145 
00146   std::vector<socket_pollfd> ufds_;
00147 
00148   boost::mutex signal_mutex_;
00149   signal_fd_t signal_pipe_[2];
00150 };
00151 
00152 }
00153 
00154 #endif // ROSCPP_POLL_SET_H