00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Johannes Meyer, TU Darmstadt 00005 * Copyright (c) 2013, Intermodalics BVBA 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of TU Darmstadt and Intermodalics BVBA 00019 * nor the names of its contributors may be 00020 * used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * Copyright (c) 2014, Jonathan Bohren, The Johns Hopkins University 00037 * - Generalized for multiple time sources 00038 * - Integrated with rtt_rosclock package 00039 *********************************************************************/ 00040 00041 #ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_MANAGER_H 00042 #define __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_MANAGER_H 00043 00044 #include <rtt/base/ActivityInterface.hpp> 00045 00046 #include <rtt/os/TimeService.hpp> 00047 #include <rtt/os/Mutex.hpp> 00048 00049 #include <list> 00050 00051 namespace rtt_rosclock { 00052 00053 class SimClockActivity; 00054 00063 class SimClockActivityManager 00064 { 00065 public: 00067 static boost::shared_ptr<SimClockActivityManager> Instance(); 00068 00070 static boost::shared_ptr<SimClockActivityManager> GetInstance(); 00071 00072 ~SimClockActivityManager(); 00073 00074 RTT::Seconds getSimulationPeriod() const; 00075 void setSimulationPeriod(RTT::Seconds s); 00076 00078 void update(); 00079 00080 protected: 00082 SimClockActivityManager(); 00084 SimClockActivityManager(SimClockActivityManager const&); 00085 void operator=(SimClockActivityManager const&); 00086 00087 private: 00089 friend class SimClockActivity; 00090 00092 void add(SimClockActivity *activity); 00094 void remove(SimClockActivity *activity); 00095 00096 private: 00097 00099 static boost::weak_ptr<SimClockActivityManager> singleton; 00100 00102 RTT::os::Mutex modify_activities_mutex_; 00103 00105 std::list<SimClockActivity *> activities_; 00106 00108 RTT::Seconds simulation_period_; 00109 }; 00110 00111 } 00112 00113 #endif // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_SIM_CLOCK_ACTIVITY_MANAGER_H