TimerExecThread.h

Go to the documentation of this file.

//-*-c++-*-
#ifndef INCLUDED_TimerExecThread_h_
#define INCLUDED_TimerExecThread_h_

#include "IPC/PollThread.h"
#include "Shared/Resource.h"

//! executes EventRouter::processTimers() as necessary (allows timers to work without any other vision or sensor processing)
class TimerExecThread : public PollThread {
public:
  explicit TimerExecThread(Resource& bl, bool autoStart=true) : PollThread(), behaviorLock(bl) { if(autoStart) reset(); }
  virtual void reset(); //!< starts and stops thread as needed, or interrupts thread to reset sleep time if already running
  
protected:
  virtual long calcSleepTime(); //!< returns the time in milliseconds to sleep until the next timer; resets PollThread::startTime
  virtual bool launched();
  virtual bool poll();
  virtual void interrupted();

  Resource& behaviorLock; //!< a lock on behaviors which should be obtained before processing timer events
};

/*! @file
 * @brief 
 * @author Ethan Tira-Thompson (ejt) (Creator)
 */

#endif