Timer.hpp

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/***************************************************************************
  tag: FMTC  Tue Mar 11 21:49:25 CET 2008  Timer.hpp

                        Timer.hpp -  description
                           -------------------
    begin                : Tue March 11 2008
    copyright            : (C) 2008 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
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 *   Public License.                                                       *
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#ifndef ORO_RTT_TIMER_HPP
#define ORO_RTT_TIMER_HPP

#include "Time.hpp"
#include "TimeService.hpp"
#include "Mutex.hpp"
#include "Semaphore.hpp"
#include "Condition.hpp"
#include "ThreadInterface.hpp"
#include "../base/RunnableInterface.hpp"
#include <vector>
#include <utility>

namespace RTT
{ namespace os {

    class RTT_API Timer
        : public base::RunnableInterface
    {
    public:
        typedef int TimerId;
    protected:
        base::ActivityInterface* mThread;
        Semaphore msem;
        mutable Mutex m;
        typedef TimeService::nsecs Time;

        struct TimerInfo
        {
            TimerInfo() : expires(0), period(0) {}
            TimerInfo(const TimerInfo& other) { *this = other; }
            TimerInfo& operator=(const TimerInfo& other) { this->expires = other.expires; this->period = other.period; return *this; }
            Time expires; // was .first
            Time period;  // was .second
            Condition expired;
        };

        typedef std::vector<TimerInfo> TimerIds;
        TimerIds mtimers;
        bool mdo_quit;

        bool initialize();
        void finalize();
        void step();

        // The main 'event' loop.
        void loop();

        bool breakLoop();

    public:
        Timer(TimerId max_timers, int scheduler = -1, int priority = 0);

        ~Timer();

        virtual void timeout(TimerId timer_id);

        void setMaxTimers(TimerId max);

        bool startTimer(TimerId timer_id, Seconds period);

        bool arm(TimerId timer_id, Seconds wait_time);

        TimeService::Seconds timeRemaining(TimerId timer_id) const;

        bool isArmed(TimerId timer_id) const;

        bool killTimer(TimerId timer_id);

        bool waitFor(RTT::os::Timer::TimerId id);

        bool waitForUntil(RTT::os::Timer::TimerId id, nsecs abs_time);

    };
}}

#endif