Orocos Real-Time Toolkit  2.9.0
Timer.hpp
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1 /***************************************************************************
2  tag: FMTC Tue Mar 11 21:49:25 CET 2008 Timer.hpp
3 
4  Timer.hpp - description
5  -------------------
6  begin : Tue March 11 2008
7  copyright : (C) 2008 FMTC
8  email : peter.soetens@fmtc.be
9 
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37 
38 
39 #ifndef ORO_RTT_TIMER_HPP
40 #define ORO_RTT_TIMER_HPP
41 
42 #include "Time.hpp"
43 #include "TimeService.hpp"
44 #include "Mutex.hpp"
45 #include "Semaphore.hpp"
46 #include "Condition.hpp"
47 #include "ThreadInterface.hpp"
48 #include "../base/RunnableInterface.hpp"
49 #include <string>
50 #include <vector>
51 #include <utility>
52 
53 namespace RTT
54 { namespace os {
55 
68  class RTT_API Timer
70  {
71  public:
75  typedef int TimerId;
76  protected:
79  mutable Mutex mmutex;
81 
82  struct TimerInfo
83  {
84  TimerInfo() : expires(0), period(0) {}
85  TimerInfo(const TimerInfo& other) { *this = other; }
86  TimerInfo& operator=(const TimerInfo& other) { this->expires = other.expires; this->period = other.period; return *this; }
87  Time expires; // was .first
88  Time period; // was .second
90  };
91 
97  typedef std::vector<TimerInfo> TimerIds;
98  TimerIds mtimers;
99  bool mdo_quit;
100 
101  bool initialize();
102  void finalize();
103  void step();
104 
105  // The main 'event' loop.
106  void loop();
107 
108  bool breakLoop();
109 
110  public:
124  Timer(TimerId max_timers, int scheduler = -1, int priority = 0, const std::string& name = std::string("Timer"));
125 
126  ~Timer();
127 
133  virtual void timeout(TimerId timer_id);
134 
139  void setMaxTimers(TimerId max);
140 
149  bool startTimer(TimerId timer_id, Seconds period);
150 
158  bool arm(TimerId timer_id, Seconds wait_time);
159 
165  TimeService::Seconds timeRemaining(TimerId timer_id) const;
166 
171  bool isArmed(TimerId timer_id) const;
172 
177  bool killTimer(TimerId timer_id);
178 
184  bool waitFor(RTT::os::Timer::TimerId id);
185 
194  bool waitForUntil(RTT::os::Timer::TimerId id, nsecs abs_time);
195 
196  };
197 }}
198 
199 #endif
Condition mcond
Definition: Timer.hpp:78
TimerInfo(const TimerInfo &other)
Definition: Timer.hpp:85
double Seconds
Seconds are stored as a double precision float.
Definition: Time.hpp:53
std::vector< TimerInfo > TimerIds
Index in vector is the timer id.
Definition: Timer.hpp:97
TimerInfo & operator=(const TimerInfo &other)
Definition: Timer.hpp:86
base::ActivityInterface * mThread
Definition: Timer.hpp:77
A class for running a certain piece of code in a thread.
int TimerId
A positive numeric ID representing a timer.
Definition: Timer.hpp:75
#define RTT_API
Definition: rtt-config.h:97
An object oriented wrapper around a condition variable.
Definition: Condition.hpp:60
TimeService::nsecs Time
Definition: Timer.hpp:80
Interface to start/stop and query a Activity.
TimerIds mtimers
Definition: Timer.hpp:98
double Seconds
The type used to store SI unit time keeping.
Definition: TimeService.hpp:41
Mutex mmutex
Definition: Timer.hpp:79
This class allows to define a timer object which can be armed in single shot and periodic mode...
Definition: Timer.hpp:68
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
long long nsecs
nanoseconds as a signed long long.
Definition: Time.hpp:69
long long nsecs
An integer representation of nanoseconds.
Definition: TimeService.hpp:61
bool mdo_quit
Definition: Timer.hpp:99