Fawkes API  Fawkes Development Version
timer_thread.h
1 
2 /***************************************************************************
3  * timer_thread.h - timer thread
4  *
5  * Created: Mon Aug 13 16:17:47 2018
6  * Copyright 2006-2018 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef __PLUGINS_PLEXIL_TIMER_THREAD_H_
23 #define __PLUGINS_PLEXIL_TIMER_THREAD_H_
24 
25 #include <aspect/clock.h>
26 #include <core/threading/thread.h>
27 
29 {
30 public:
32  virtual ~PlexilTimerThread();
33 
34  virtual void loop();
35 
36  /** Callback listener pure virtual class. */
38  {
39  public:
40  /** Called for timer events. */
41  virtual void timer_event() = 0;
42  };
43 
44  void start_timer(CallbackListener *listener, const fawkes::Time &wait_until);
45  void abort_timer();
46 
47  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
48 protected:
49  virtual void
50  run()
51  {
52  Thread::run();
53  }
54 
55 private:
56  fawkes::Mutex * mutex_;
57  fawkes::WaitCondition *waitcond_;
58 
59  CallbackListener *listener_;
60  fawkes::Time queued_wait_until_;
61  bool aborted_;
62 };
63 
64 #endif
Callback listener pure virtual class.
Definition: timer_thread.h:38
virtual void timer_event()=0
Called for timer events.
Timer support class.
Definition: timer_thread.h:29
void start_timer(CallbackListener *listener, const fawkes::Time &wait_until)
Start timer non-blocking.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: timer_thread.h:50
void abort_timer()
Abort a currently running timer.
virtual void loop()
Code to execute in the thread.
PlexilTimerThread()
Constructor.
virtual ~PlexilTimerThread()
Empty destructor.
Mutex mutual exclusion lock.
Definition: mutex.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
A class for handling time.
Definition: time.h:93
Wait until a given condition holds.