TimerThread.hpp

/***************************************************************************
 tag: Peter Soetens  Wed Apr 17 16:01:36 CEST 2002  TimerThread.h

                       TimerThread.h -  description
                          -------------------
   begin                : Wed April 17 2002
   copyright            : (C) 2002 Peter Soetens
   email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_TIMERTHREAD_HPP
#define ORO_TIMERTHREAD_HPP


#include <list>
#include <vector>
#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>

#include "../os/Thread.hpp"
#include "../os/Mutex.hpp"
#include "rtt-extras-fwd.hpp"

namespace RTT
{ namespace extras {

    typedef boost::shared_ptr<TimerThread> TimerThreadPtr;

    class RTT_API TimerThread
        : public os::Thread
    {
        typedef std::vector<PeriodicActivity*> ActivityList ;
        ActivityList tasks;
        bool cleanup;
    public:
        static const unsigned int MAX_ACTIVITIES = 64;
        TimerThread(int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);

        TimerThread(int scheduler, int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);

        virtual ~TimerThread();

        bool addActivity( PeriodicActivity* t );

        bool removeActivity( PeriodicActivity* t );

        static TimerThreadPtr Instance(int priority, double periodicity);
        static TimerThreadPtr Instance(int scheduler, int priority, double periodicity);
        static TimerThreadPtr Instance(int scheduler, int priority, double periodicity, unsigned cpu_affinity);
    protected:
        virtual bool initialize();
        virtual void step();
        virtual void finalize();
        void reorderList();
        mutable os::MutexRecursive mutex;

        typedef std::vector< boost::weak_ptr<TimerThread> > TimerThreadList;

        static TimerThreadList TimerThreads;
    };
}} // namespace RTT

#endif