fd_watcher.h

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// Watches a set of file descriptors for changes
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
 
#ifndef FD_WATCHER_H
#define FD_WATCHER_H
 
#include <ros/time.h>
 
#include <map>
 
#include <boost/function.hpp>
 
namespace rosmon
{
 
class FDWatcher
{
public:
        typedef boost::shared_ptr<FDWatcher> Ptr;
 
        FDWatcher();
 
        void registerFD(int fd, const boost::function<void(int)>& cb);
        void removeFD(int fd);
 
        void wait(const ros::WallDuration& duration);
private:
        std::map<int, boost::function<void(int)>> m_fds;
};
 
}
 
#endif