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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
roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Sat Dec 28 2013 17:35:52