Timer.hpp
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00001 /***************************************************************************
00002   tag: FMTC  Tue Mar 11 21:49:25 CET 2008  Timer.hpp
00003 
00004                         Timer.hpp -  description
00005                            -------------------
00006     begin                : Tue March 11 2008
00007     copyright            : (C) 2008 FMTC
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_RTT_TIMER_HPP
00040 #define ORO_RTT_TIMER_HPP
00041 
00042 #include "Time.hpp"
00043 #include "TimeService.hpp"
00044 #include "Mutex.hpp"
00045 #include "Semaphore.hpp"
00046 #include "Condition.hpp"
00047 #include "ThreadInterface.hpp"
00048 #include "../base/RunnableInterface.hpp"
00049 #include <vector>
00050 #include <utility>
00051 
00052 namespace RTT
00053 { namespace os {
00054 
00067     class RTT_API Timer
00068         : public base::RunnableInterface
00069     {
00070     public:
00074         typedef int TimerId;
00075     protected:
00076         base::ActivityInterface* mThread;
00077         Semaphore msem;
00078         mutable Mutex m;
00079         typedef TimeService::nsecs Time;
00080 
00081         struct TimerInfo
00082         {
00083             TimerInfo() : expires(0), period(0) {}
00084             TimerInfo(const TimerInfo& other) { *this = other; }
00085             TimerInfo& operator=(const TimerInfo& other) { this->expires = other.expires; this->period = other.period; return *this; }
00086             Time expires; // was .first
00087             Time period;  // was .second
00088             Condition expired;
00089         };
00090 
00096         typedef std::vector<TimerInfo> TimerIds;
00097         TimerIds mtimers;
00098         bool mdo_quit;
00099 
00100         bool initialize();
00101         void finalize();
00102         void step();
00103 
00104         // The main 'event' loop.
00105         void loop();
00106 
00107         bool breakLoop();
00108 
00109     public:
00122         Timer(TimerId max_timers, int scheduler = -1, int priority = 0);
00123 
00124         ~Timer();
00125 
00131         virtual void timeout(TimerId timer_id);
00132 
00137         void setMaxTimers(TimerId max);
00138 
00147         bool startTimer(TimerId timer_id, Seconds period);
00148 
00156         bool arm(TimerId timer_id, Seconds wait_time);
00157 
00163         TimeService::Seconds timeRemaining(TimerId timer_id) const;
00164 
00169         bool isArmed(TimerId timer_id) const;
00170 
00175         bool killTimer(TimerId timer_id);
00176 
00182         bool waitFor(RTT::os::Timer::TimerId id);
00183 
00192         bool waitForUntil(RTT::os::Timer::TimerId id, nsecs abs_time);
00193 
00194     };
00195 }}
00196 
00197 #endif


rtt
Author(s): RTT Developers
autogenerated on Fri Sep 9 2016 04:02:16