FileDescriptorActivity.hpp

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/***************************************************************************
  tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  FileDescriptorActivity.hpp

                        FileDescriptorActivity.hpp -  description
                           -------------------
    begin                : Thu October 22 2009
    copyright            : (C) 2009 Peter Soetens
    email                : peter@thesourcworks.com

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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#ifndef FILEDESCRIPTOR_ACTIVITY_HPP
#define FILEDESCRIPTOR_ACTIVITY_HPP

#include "FileDescriptorActivityInterface.hpp"
#include "../Activity.hpp"
#include <set>

namespace RTT { namespace extras {

    class RTT_API FileDescriptorActivity : public extras::FileDescriptorActivityInterface,
                                           public Activity
    {
        std::set<int> m_watched_fds;
        bool m_running;
        int  m_interrupt_pipe[2];
        int  m_timeout_us;      
        Seconds m_period;       

        mutable RTT::os::Mutex m_lock;
        fd_set m_fd_set;
        fd_set m_fd_work;
        bool m_has_error;
        bool m_has_timeout;

        static const char CMD_ANY_COMMAND = 0;
        RTT::os::Mutex m_command_mutex;
        bool m_break_loop;
        bool m_trigger;
        bool m_update_sets;

        void triggerUpdateSets();

    public:
        FileDescriptorActivity(int priority, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );

        FileDescriptorActivity(int scheduler, int priority, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );

        FileDescriptorActivity(int scheduler, int priority, Seconds period, base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );

        FileDescriptorActivity(int scheduler, int priority, Seconds period, unsigned cpu_affinity,
                               base::RunnableInterface* _r = 0, const std::string& name ="FileDescriptorActivity" );

        virtual ~FileDescriptorActivity();

        bool isRunning() const;

        virtual Seconds getPeriod() const;

        virtual bool setPeriod(Seconds period);

        void watch(int fd);

        void unwatch(int fd);

        void clearAllWatches();

        bool isWatched(int fd) const;

        bool isUpdated(int fd) const;

        bool hasTimeout() const;

        bool hasError() const;

        void setTimeout(int timeout);

        void setTimeout_us(int timeout_us);

        int getTimeout() const;

        int getTimeout_us() const;

        virtual bool start();
        virtual void loop();
        virtual bool breakLoop();
        virtual bool stop();
    
        virtual void step();

        virtual void work(base::RunnableInterface::WorkReason reason);

        virtual bool trigger();

        virtual bool timeout();
    };
}}

#endif