Orocos Real-Time Toolkit  2.6.0
Timer.hpp
00001 /***************************************************************************
00002   tag: FMTC  Tue Mar 11 21:49:25 CET 2008  Timer.hpp
00003 
00004                         Timer.hpp -  description
00005                            -------------------
00006     begin                : Tue March 11 2008
00007     copyright            : (C) 2008 FMTC
00008     email                : peter.soetens@fmtc.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             *
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 ORO_RTT_TIMER_HPP
00040 #define ORO_RTT_TIMER_HPP
00041 
00042 #include "Time.hpp"
00043 #include "TimeService.hpp"
00044 #include "Mutex.hpp"
00045 #include "Semaphore.hpp"
00046 #include "ThreadInterface.hpp"
00047 #include "../base/RunnableInterface.hpp"
00048 #include <vector>
00049 #include <utility>
00050 
00051 namespace RTT
00052 { namespace os {
00053 
00066     class RTT_API Timer
00067         : public base::RunnableInterface
00068     {
00069     public:
00073         typedef int TimerId;
00074     protected:
00075         TimeService* mTimeserv;
00076         base::ActivityInterface* mThread;
00077         Semaphore msem;
00078         mutable Mutex m;
00079         typedef TimeService::nsecs Time;
00085         typedef std::vector<std::pair<Time, Time> > TimerIds;
00086         TimerIds mtimers;
00087         bool mdo_quit;
00088 
00089         bool initialize();
00090         void finalize();
00091         void step();
00092 
00093         // The main 'event' loop.
00094         void loop();
00095 
00096         bool breakLoop();
00097 
00098     public:
00111         Timer(TimerId max_timers, int scheduler = -1, int priority = 0);
00112 
00113         ~Timer();
00114 
00120         virtual void timeout(TimerId timer_id);
00121 
00126         void setMaxTimers(TimerId max);
00127 
00136         bool startTimer(TimerId timer_id, Seconds period);
00137 
00145         bool arm(TimerId timer_id, Seconds wait_time);
00146 
00152         TimeService::Seconds timeRemaining(TimerId timer_id) const;
00153 
00158         bool isArmed(TimerId timer_id) const;
00159 
00164         bool killTimer(TimerId timer_id);
00165 
00166     };
00167 }}
00168 
00169 #endif