Orocos Real-Time Toolkit  2.6.0
FileDescriptorActivity.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  FileDescriptorActivity.hpp
00003 
00004                         FileDescriptorActivity.hpp -  description
00005                            -------------------
00006     begin                : Thu October 22 2009
00007     copyright            : (C) 2009 Peter Soetens
00008     email                : peter@thesourcworks.com
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             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef FILEDESCRIPTOR_ACTIVITY_HPP
00040 #define FILEDESCRIPTOR_ACTIVITY_HPP
00041 
00042 #include "../Activity.hpp"
00043 #include <set>
00044 
00045 namespace RTT { namespace extras {
00046 
00101     class RTT_API FileDescriptorActivity : public Activity
00102     {
00103         std::set<int> m_watched_fds;
00104         bool m_running;
00105         int  m_interrupt_pipe[2];
00106         int  m_timeout;
00108         mutable RTT::os::Mutex m_lock;
00109         fd_set m_fd_set;
00110         fd_set m_fd_work;
00111         bool m_has_error;
00112         bool m_has_timeout;
00113 
00114         static const char CMD_BREAK_LOOP  = 0;
00115         static const char CMD_TRIGGER     = 1;
00116         static const char CMD_UPDATE_SETS = 2;
00117 
00121         void triggerUpdateSets();
00122 
00123     public:
00133         FileDescriptorActivity(int priority, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );
00134 
00145         FileDescriptorActivity(int scheduler, int priority, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );
00146 
00147         virtual ~FileDescriptorActivity();
00148 
00149         bool isRunning() const;
00150 
00161         void watch(int fd);
00162 
00167         void unwatch(int fd);
00168 
00170         void clearAllWatches();
00171 
00174         bool isWatched(int fd) const;
00175 
00182         bool isUpdated(int fd) const;
00183 
00191         bool hasTimeout() const;
00192 
00200         bool hasError() const;
00201 
00205         void setTimeout(int timeout);
00206 
00210         int getTimeout() const;
00211 
00212         virtual bool start();
00213         virtual void loop();
00214         virtual bool breakLoop();
00215         virtual bool stop();
00216     
00220         virtual void step();
00221 
00225         virtual bool trigger();
00226     };
00227 }}
00228 
00229 #endif