Orocos Real-Time Toolkit
2.5.0
|
00001 /*************************************************************************** 00002 tag: The SourceWorks Tue Sep 7 00:55:18 CEST 2010 Condition.hpp 00003 00004 Condition.hpp - description 00005 ------------------- 00006 begin : Tue September 07 2010 00007 copyright : (C) 2010 The SourceWorks 00008 email : peter@thesourceworks.com 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, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef OS_CONDITION_HPP 00040 #define OS_CONDITION_HPP 00041 00042 #include "fosi.h" 00043 #include "../rtt-config.h" 00044 #include "Time.hpp" 00045 #include "Mutex.hpp" 00046 #ifdef ORO_OS_USE_BOOST_THREAD 00047 // BOOST_DATE_TIME_POSIX_TIME_STD_CONFIG is defined in rtt-config.h 00048 #include <boost/thread/condition.hpp> 00049 #include <boost/date_time/posix_time/posix_time_types.hpp> 00050 #endif 00051 00052 namespace RTT 00053 { namespace os { 00054 00060 class RTT_API Condition 00061 { 00062 #ifndef ORO_OS_USE_BOOST_THREAD 00063 protected: 00064 rt_cond_t c; 00065 public: 00069 Condition() 00070 { 00071 rtos_cond_init( &c); 00072 } 00073 00079 ~Condition() 00080 { 00081 rtos_cond_destroy( &c ); 00082 } 00083 00090 bool wait (Mutex& m) 00091 { 00092 return rtos_cond_wait( &c, &m.m ) == 0 ? true : false; 00093 } 00094 00103 template<class Predicate> 00104 bool wait (Mutex& m, Predicate& p) 00105 { 00106 while( !p() ) 00107 if ( rtos_cond_wait( &c, &m.m ) != 0) return false; 00108 return true; 00109 } 00113 void broadcast() 00114 { 00115 rtos_cond_broadcast( &c ); 00116 } 00117 00129 bool wait_until(Mutex& m, nsecs abs_time) 00130 { 00131 if ( rtos_cond_timedwait( &c, &m.m, abs_time ) == 0 ) 00132 return true; 00133 return false; 00134 } 00135 #else 00136 protected: 00137 boost::condition_variable_any c; 00138 public: 00142 Condition() 00143 { 00144 } 00145 00151 ~Condition() 00152 { 00153 } 00154 00161 bool wait (Mutex& m) 00162 { 00163 c.wait(m.m); 00164 return true; 00165 } 00166 00175 template<class Predicate> 00176 bool wait (Mutex& m, Predicate& p) 00177 { 00178 c.wait(m.m, p); 00179 return true; 00180 } 00184 void broadcast() 00185 { 00186 c.notify_all(); 00187 } 00188 00200 bool wait_until(Mutex& m, nsecs abs_time) 00201 { 00202 // abs_time is since epoch, so set p_time to epoch, then add our abs_time. 00203 boost::posix_time::ptime p_time = boost::posix_time::from_time_t(0); 00204 boost::posix_time::nanosec abs_p_time = boost::posix_time::nanoseconds(abs_time); 00205 // wakeup time = epoch date + time since epoch 00206 p_time = p_time + abs_p_time; 00207 return c.timed_wait(m, p_time, &Condition::retfalse ); 00208 } 00209 private: 00210 static bool retfalse() { return false; } 00211 00212 #endif 00213 00214 }; 00215 }} 00216 00217 #endif