ExtTrigExecutionContext.h

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// -*- C++ -*-
#ifndef RTC_EXTTRIGEXECUTIONCONTEXT_H
#define RTC_EXTTRIGEXECUTIONCONTEXT_H

#include <rtm/RTC.h>

#include <coil/Mutex.h>
#include <coil/Condition.h>
#include <coil/Task.h>

#include <rtm/Manager.h>
#include <rtm/PeriodicExecutionContext.h>

#ifdef WIN32
#pragma warning( disable : 4290 )
#endif

namespace RTC
{
  class ExtTrigExecutionContext
    : public virtual PeriodicExecutionContext
  {
    typedef coil::Mutex Mutex;
    typedef coil::Condition<Mutex> Condition;
  public:
    ExtTrigExecutionContext();
    
    virtual ~ExtTrigExecutionContext(void);
    
    virtual void tick()
      throw (CORBA::SystemException);
    
    virtual int svc(void);
    
  private:
    struct Worker
    {
      Worker() : _cond(_mutex), _called(false) {};
      Mutex _mutex;
      Condition _cond;
      bool _called;
    };
    // A condition variable for external triggered worker
    Worker m_worker;
  };  // class ExtTrigExecutionContext
};  // namespace RTC

#ifdef WIN32
#pragma warning( default : 4290 )
#endif


extern "C"
{
  void ExtTrigExecutionContextInit(RTC::Manager* manager);
};

#endif // RTC_EXTTRIGEXECUTIONCONTEXT_H