ExtTrigExecutionContext.h

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// -*- C++ -*-
#ifndef RTC_EXTTRIGEXECUTIONCONTEXT_H
#define RTC_EXTTRIGEXECUTIONCONTEXT_H
 
#include <rtm/RTC.h>
 
#include <condition_variable>
#include <coil/Task.h>
 
#include <rtm/ExecutionContextBase.h>
 
namespace RTC
{
  class ExtTrigExecutionContext
    : public virtual POA_OpenRTM::ExtTrigExecutionContextService,
      public virtual PortableServer::RefCountServantBase,
      public RTC::ExecutionContextBase,
      public coil::Task
  {
  public:
    ExtTrigExecutionContext();
 
    ~ExtTrigExecutionContext() override;
 
    int open(void *args) override;
 
    int svc() override;
 
    int close(unsigned long flags) override;
 
    //============================================================
    // ExtTrigExecutionContextService
    //============================================================
    void tick() override;
 
    //============================================================
    // ExecutionContextService
    //============================================================
    CORBA::Boolean is_running() override;
 
    RTC::ReturnCode_t start() override;
 
    RTC::ReturnCode_t stop() override;
 
    CORBA::Double get_rate() override;
 
    RTC::ReturnCode_t  set_rate(CORBA::Double rate) override;
 
    RTC::ReturnCode_t
    activate_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ReturnCode_t
    deactivate_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ReturnCode_t
    reset_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::LifeCycleState
    get_component_state(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ExecutionKind get_kind() override;
 
    RTC::ReturnCode_t add_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ReturnCode_t
    remove_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ExecutionContextProfile* get_profile() override;
 
  protected:
    RTC::ReturnCode_t onStarted() override;
    // template virtual functions adding/removing component
     RTC::ReturnCode_t
     onAddedComponent(RTC::LightweightRTObject_ptr rtobj) override;
    RTC::ReturnCode_t
    onRemovedComponent(RTC::LightweightRTObject_ptr rtobj) override;
    RTC::ReturnCode_t
    onWaitingActivated(RTC_impl::RTObjectStateMachine* comp, long int count) override;
    RTC::ReturnCode_t
    onWaitingDeactivated(RTC_impl::RTObjectStateMachine* comp, long int count) override;
    RTC::ReturnCode_t
    onWaitingReset(RTC_impl::RTObjectStateMachine* comp, long int count) override;
 
  private:
    bool threadRunning()
    {
      std::lock_guard<std::mutex> guard(m_svcmutex);
      return m_svc;
    }
    RTC::Logger rtclog{"exttrig_async_ec"};
 
    bool m_svc{false};
    std::mutex m_svcmutex;
 
    struct Worker
    {
      Worker() {}
      std::mutex mutex_;
      std::condition_variable cond_;
      bool ticked_{false};
    };
    // A condition variable for external triggered worker
    Worker m_worker;
  };  // class ExtTrigExecutionContext
} // namespace RTC
 
 
extern "C"
{
  void ExtTrigExecutionContextInit(RTC::Manager* manager);
}
 
#endif  // RTC_EXTTRIGEXECUTIONCONTEXT_H