ExtTrigExecutionContext.cpp

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// -*- C++ -*-
#include <coil/TimeValue.h>
#include <rtm/ExtTrigExecutionContext.h>
#include <rtm/ECFactory.h>

namespace RTC
{
  ExtTrigExecutionContext::ExtTrigExecutionContext()
    : PeriodicExecutionContext()
  {
    rtclog.setName("exttrig_ec");
  }
  
  ExtTrigExecutionContext::~ExtTrigExecutionContext()
  {
  }
  
  void ExtTrigExecutionContext::tick()
    throw (CORBA::SystemException)
  {
    RTC_TRACE(("tick()"));
    m_worker._mutex.lock();
    m_worker._called = true;
    m_worker._cond.signal();
    m_worker._mutex.unlock();
    return;
  }
  
  int ExtTrigExecutionContext::svc(void)
  {
    RTC_TRACE(("svc()"));
    do
      {
        m_worker._mutex.lock();
        while (!m_worker._called && m_running)
          {
            m_worker._cond.wait();
          }
        if (m_worker._called)
          {
            m_worker._called = false;
            std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
          }
        m_worker._mutex.unlock();
      } while (m_running);
    
    return 0;
  }
};


extern "C"
{
  void ExtTrigExecutionContextInit(RTC::Manager* manager)
  {
    manager->registerECFactory("ExtTrigExecutionContext",
                               RTC::ECCreate<RTC::ExtTrigExecutionContext>,
                               RTC::ECDelete<RTC::ExtTrigExecutionContext>);
  }
};