poll_manager.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
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#ifndef ROSCPP_POLL_MANAGER_H
#define ROSCPP_POLL_MANAGER_H

#include "forwards.h"
#include "poll_set.h"
#include "common.h"

#include <boost/signals2.hpp>

#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/thread.hpp>

namespace ros
{

class PollManager;
typedef boost::shared_ptr<PollManager> PollManagerPtr;
typedef boost::signals2::signal<void(void)> VoidSignal;
typedef boost::function<void(void)> VoidFunc;

class ROSCPP_DECL PollManager
{
public:
  static const PollManagerPtr& instance();

  PollManager();
  ~PollManager();

  PollSet& getPollSet() { return poll_set_; }

  boost::signals2::connection addPollThreadListener(const VoidFunc& func);
  void removePollThreadListener(boost::signals2::connection c);

  void start();
  void shutdown();
private:
  void threadFunc();

  PollSet poll_set_;
  volatile bool shutting_down_;

  VoidSignal poll_signal_;
  boost::recursive_mutex signal_mutex_;

  boost::thread thread_;
};

}

#endif