timer.h
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00001 #ifndef H_CANOPEN_TIMER
00002 #define H_CANOPEN_TIMER
00003 
00004 #include <socketcan_interface/FastDelegate.h>
00005 #include <boost/asio.hpp>
00006 #include <boost/thread/thread.hpp>
00007 #include <boost/asio/high_resolution_timer.hpp>
00008 
00009 namespace canopen{
00010 
00011 class Timer{
00012 public:
00013     typedef fastdelegate::FastDelegate0<bool> TimerDelegate;
00014     Timer():work(io), timer(io),thread(fastdelegate::FastDelegate0<size_t>(&io, &boost::asio::io_service::run)){
00015     }
00016     
00017     void stop(){
00018         boost::mutex::scoped_lock lock(mutex);
00019         timer.cancel();
00020     }
00021     template<typename T> void start(const TimerDelegate &del, const  T &dur, bool start_now = true){
00022         boost::mutex::scoped_lock lock(mutex);
00023         delegate = del;
00024         period = boost::chrono::duration_cast<boost::chrono::high_resolution_clock::duration>(dur);
00025         if(start_now){
00026             timer.expires_from_now(period);
00027             timer.async_wait(fastdelegate::FastDelegate1<const boost::system::error_code&>(this, &Timer::handler));
00028         }
00029     }
00030     void restart(){
00031         boost::mutex::scoped_lock lock(mutex);
00032         timer.expires_from_now(period);
00033         timer.async_wait(fastdelegate::FastDelegate1<const boost::system::error_code&>(this, &Timer::handler));
00034     }
00035     const  boost::chrono::high_resolution_clock::duration & getPeriod(){
00036         boost::mutex::scoped_lock lock(mutex);
00037         return period;
00038     }
00039     ~Timer(){
00040         io.stop();
00041         thread.join();
00042     }
00043     
00044 private:
00045     boost::asio::io_service io;
00046     boost::asio::io_service::work work;
00047     boost::asio::basic_waitable_timer<boost::chrono::high_resolution_clock> timer;
00048     boost::chrono::high_resolution_clock::duration period;
00049     boost::mutex mutex;
00050     boost::thread thread;
00051     
00052     TimerDelegate delegate;
00053     void handler(const boost::system::error_code& ec){
00054         if(!ec){
00055             boost::mutex::scoped_lock lock(mutex);
00056             if(delegate && delegate()){
00057                 timer.expires_at(timer.expires_at() + period);
00058                 timer.async_wait(fastdelegate::FastDelegate1<const boost::system::error_code&>(this, &Timer::handler));
00059             }
00060             
00061         }
00062     }    
00063 };
00064     
00065 }
00066 
00067 #endif


canopen_master
Author(s): Mathias L├╝dtke
autogenerated on Sun Sep 3 2017 03:10:42