EventDrivenActivity.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:19 CET 2004  EventDrivenActivity.hpp

                        EventDrivenActivity.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
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#ifndef TASK_EVENT_DRIVEN_HPP
#define TASK_EVENT_DRIVEN_HPP

#include "NonPeriodicActivity.hpp"
#include "Event.hpp"
#include "Buffer.hpp"
#include <set>

#ifdef ORO_PRAGMA_INTERFACE
#pragma interface
#endif

namespace RTT
{

    class RTT_API EventDrivenActivity
        : public NonPeriodicActivity
    {
        // The set of events that can trigger this activity
        typedef std::vector< Event< void() >* > Events;
        Events   m_events;

        // The set of connection handles which link m_events with the activity
        typedef std::vector<Handle> Handles;
        Handles  m_handles;

        // The set of pending events (i.e. events that have been emitted since
        // the last time the activity went to sleep)
        typedef Buffer< Event< void() >*, BlockingPolicy, NonBlockingPolicy > Triggers;
        Triggers* m_pending_events;

        // The set of wakeup events (i.e. the events which triggered the
        // current wakeup of the activity)
        typedef std::vector< Event< void() >* > Wakeup;
        Wakeup   m_wakeup;

        // The trigger method, called by the event. \c event_id is the index of
        // the event in m_events.
        void event_trigger(Event<void()>* event);

    public:
        EventDrivenActivity(int priority, RunnableInterface* _r = 0 );

        EventDrivenActivity(int scheduler, int priority, RunnableInterface* _r = 0 );

        EventDrivenActivity(int priority, const std::string& name, RunnableInterface* _r = 0 );

        ~EventDrivenActivity();

        bool start();
        bool stop();
        void loop();
        bool breakLoop();

        std::vector<Event<void()>*> const& getWakeupEvents() const;

        bool addEvent( Event<void(void)>* _event);
    };

}


#endif