Orocos Real-Time Toolkit  2.9.0
FileDescriptorActivity.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Thu Oct 22 11:59:08 CEST 2009 FileDescriptorActivity.hpp
3 
4  FileDescriptorActivity.hpp - description
5  -------------------
6  begin : Thu October 22 2009
7  copyright : (C) 2009 Peter Soetens
8  email : peter@thesourcworks.com
9 
10  ***************************************************************************
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37 
38 
39 #ifndef FILEDESCRIPTOR_ACTIVITY_HPP
40 #define FILEDESCRIPTOR_ACTIVITY_HPP
41 
43 #include "../Activity.hpp"
44 #include <set>
45 
46 namespace RTT { namespace extras {
47 
105  public Activity
106  {
107  std::set<int> m_watched_fds;
108  bool m_running;
109  int m_interrupt_pipe[2];
110  int m_timeout_us;
111  Seconds m_period;
112 
113  mutable RTT::os::Mutex m_lock;
114  fd_set m_fd_set;
115  fd_set m_fd_work;
116  bool m_has_error;
117  bool m_has_timeout;
118 
119  static const char CMD_ANY_COMMAND = 0;
120  RTT::os::Mutex m_command_mutex;
121  bool m_break_loop;
122  bool m_trigger;
123  bool m_update_sets;
124 
128  void triggerUpdateSets();
129 
130  public:
140  FileDescriptorActivity(int priority, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );
141 
152  FileDescriptorActivity(int scheduler, int priority, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );
153 
165  FileDescriptorActivity(int scheduler, int priority, Seconds period, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );
166 
179  FileDescriptorActivity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
180  base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );
181 
182  virtual ~FileDescriptorActivity();
183 
184  bool isRunning() const;
185 
187  virtual Seconds getPeriod() const;
188 
190  virtual bool setPeriod(Seconds period);
191 
198  void watch(int fd);
199 
206  void unwatch(int fd);
207 
209  void clearAllWatches();
210 
215  bool isWatched(int fd) const;
216 
225  bool isUpdated(int fd) const;
226 
234  bool hasTimeout() const;
235 
243  bool hasError() const;
244 
252  void setTimeout(int timeout);
253 
261  void setTimeout_us(int timeout_us);
262 
268  int getTimeout() const;
269 
275  int getTimeout_us() const;
276 
277  virtual bool start();
278  virtual void loop();
279  virtual bool breakLoop();
280  virtual bool stop();
281 
285  virtual void step();
286 
290  virtual void work(base::RunnableInterface::WorkReason reason);
291 
295  virtual bool trigger();
296 
300  virtual bool timeout();
301  };
302 }}
303 
304 #endif
An activity which is triggered by the availability of data on a set of file descriptors.
double Seconds
Seconds are stored as a double precision float.
Definition: Time.hpp:53
A class for running a certain piece of code in a thread.
#define RTT_API
Definition: rtt-config.h:97
An activity which is triggered by the availability of data on a set of file descriptors.
An Activity executes a RunnableInterface object in a (periodic) thread.
Definition: Activity.hpp:70
An object oriented wrapper around a non recursive mutex.
Definition: Mutex.hpp:92
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52