Orocos Real-Time Toolkit  2.6.0
TimerThread.hpp
00001 /***************************************************************************
00002  tag: Peter Soetens  Wed Apr 17 16:01:36 CEST 2002  TimerThread.h
00003 
00004                        TimerThread.h -  description
00005                           -------------------
00006    begin                : Wed April 17 2002
00007    copyright            : (C) 2002 Peter Soetens
00008    email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_TIMERTHREAD_HPP
00040 #define ORO_TIMERTHREAD_HPP
00041 
00042 
00043 #include <list>
00044 #include <vector>
00045 #include <string>
00046 #include <boost/shared_ptr.hpp>
00047 #include <boost/weak_ptr.hpp>
00048 
00049 #include "../os/Thread.hpp"
00050 #include "../os/Mutex.hpp"
00051 #include "rtt-extras-fwd.hpp"
00052 
00053 namespace RTT
00054 { namespace extras {
00055 
00061     typedef boost::shared_ptr<TimerThread> TimerThreadPtr;
00062 
00069     class RTT_API TimerThread
00070         : public os::Thread
00071     {
00072         typedef std::vector<PeriodicActivity*> ActivityList ;
00073         ActivityList tasks;
00074         bool cleanup;
00075     public:
00076         static const unsigned int MAX_ACTIVITIES = 64;
00085         TimerThread(int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);
00086 
00097         TimerThread(int scheduler, int priority, const std::string& name, double periodicity, unsigned cpu_affinity = ~0);
00098 
00102         virtual ~TimerThread();
00103 
00108         bool addActivity( PeriodicActivity* t );
00109 
00110         bool removeActivity( PeriodicActivity* t );
00111 
00116         static TimerThreadPtr Instance(int priority, double periodicity);
00120         static TimerThreadPtr Instance(int scheduler, int priority, double periodicity);
00124         static TimerThreadPtr Instance(int scheduler, int priority, double periodicity, unsigned cpu_affinity);
00125     protected:
00126         virtual bool initialize();
00127         virtual void step();
00128         virtual void finalize();
00129         void reorderList();
00134         mutable os::MutexRecursive mutex;
00135 
00140         typedef std::vector< boost::weak_ptr<TimerThread> > TimerThreadList;
00141 
00145         static TimerThreadList TimerThreads;
00146     };
00147 }} // namespace RTT
00148 
00149 #endif