Timer.hpp

Go to the documentation of this file.

/***************************************************************************
  tag: FMTC  Tue Mar 11 21:49:25 CET 2008  Timer.hpp

                        Timer.hpp -  description
                           -------------------
    begin                : Tue March 11 2008
    copyright            : (C) 2008 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


#ifndef ORO_RTT_TIMER_HPP
#define ORO_RTT_TIMER_HPP

#include "Time.hpp"
#include "TimeService.hpp"
#include "Mutex.hpp"
#include "Semaphore.hpp"
#include "Condition.hpp"
#include "ThreadInterface.hpp"
#include "../base/RunnableInterface.hpp"
#include <vector>
#include <utility>

namespace RTT
{ namespace os {

    class RTT_API Timer
        : public base::RunnableInterface
    {
    public:
        typedef int TimerId;
    protected:
        base::ActivityInterface* mThread;
        Condition mcond;
        mutable Mutex mmutex;
        typedef TimeService::nsecs Time;

        struct TimerInfo
        {
            TimerInfo() : expires(0), period(0) {}
            TimerInfo(const TimerInfo& other) { *this = other; }
            TimerInfo& operator=(const TimerInfo& other) { this->expires = other.expires; this->period = other.period; return *this; }
            Time expires; // was .first
            Time period;  // was .second
            Condition expired;
        };

        typedef std::vector<TimerInfo> TimerIds;
        TimerIds mtimers;
        bool mdo_quit;

        bool initialize();
        void finalize();
        void step();

        // The main 'event' loop.
        void loop();

        bool breakLoop();

    public:
        Timer(TimerId max_timers, int scheduler = -1, int priority = 0);

        ~Timer();

        virtual void timeout(TimerId timer_id);

        void setMaxTimers(TimerId max);

        bool startTimer(TimerId timer_id, Seconds period);

        bool arm(TimerId timer_id, Seconds wait_time);

        TimeService::Seconds timeRemaining(TimerId timer_id) const;

        bool isArmed(TimerId timer_id) const;

        bool killTimer(TimerId timer_id);

        bool waitFor(RTT::os::Timer::TimerId id);

        bool waitForUntil(RTT::os::Timer::TimerId id, nsecs abs_time);

    };
}}

#endif