From 8f486613be58ced269db1d437e560c16558604e8 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 10 May 2007 18:49:20 +0000 Subject: Création de chuck, le programme du robot 2007. --- i/chuck/src/scheduler/schedulable_alarm.hh | 60 ++++++++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 i/chuck/src/scheduler/schedulable_alarm.hh (limited to 'i/chuck/src/scheduler/schedulable_alarm.hh') diff --git a/i/chuck/src/scheduler/schedulable_alarm.hh b/i/chuck/src/scheduler/schedulable_alarm.hh new file mode 100644 index 0000000..1e008b6 --- /dev/null +++ b/i/chuck/src/scheduler/schedulable_alarm.hh @@ -0,0 +1,60 @@ +#ifndef schedulable_alarm_hh +#define schedulable_alarm_hh +// schedulable_alarm.hh +// {{{ +// +// Copyright (C) 2004 Nicolas Schodet +// +// This program is free software; you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation; either version 2 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +// +// Contact : +// Web: http://perso.efrei.fr/~schodet/ +// Email: +// }}} +#include "schedulable.hh" +#include "utils/callback.hh" +#include "timer/timer.hh" + +namespace scheduler { + +/// Execute un callback à un instant donné. +class SchedulableAlarm : public Schedulable +{ + Callback callback_; + int start_, step_; + bool periodic_; + public: + /// Construit une alarm dans step milliseconde, périodique si periodic est + /// vrai (vrai par defaut), à partir de start si donné, ou de maintenant + /// sinon. + template + SchedulableAlarm (T callback, int step, bool periodic = true, + int start = -1) + : callback_ (callback), + start_ (start), step_ (step), periodic_ (periodic) + { + if (start_ == -1) + start_ = Timer::getProgramTime (); + } + /// Paramètre le Scheduler. + void setup (Scheduler &scheduler, int time, FdSet &readSet, int &timeout); + /// Appelé aprés l'attente du Scheduler, renvois true si un événement a + /// été traité. + bool run (Scheduler &scheduler, int time, const FdSet &readSet); +}; + +} // namespace scheduler + +#endif // schedulable_alarm_hh -- cgit v1.2.3