72 lines
1.9 KiB
C++
72 lines
1.9 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _IOMANAGER_HH_
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#define _IOMANAGER_HH_
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#include <boost/thread/thread.hpp>
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#include <boost/asio.hpp>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace transport
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{
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/// \addtogroup gazebo_transport
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/// \{
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/// \class IOManager IOManager.hh transport/transport.hh
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/// \brief Manages boost::asio IO
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class GZ_TRANSPORT_VISIBLE IOManager
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{
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/// \brief Constructor
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public: IOManager();
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/// \brief Destructor
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public: ~IOManager();
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/// \brief Get handle to boost::asio IO service
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/// \return Handle to boost::asio IO service
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public: boost::asio::io_service &GetIO();
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/// \brief Increment the event count by 1
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public: void IncCount();
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/// \brief Decrement the event count by 1
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public: void DecCount();
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/// \brief Get the event count
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/// \return The event count
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public: unsigned int GetCount() const;
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/// \brief Stop the IO service
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public: void Stop();
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private: boost::asio::io_service *io_service;
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// Use io_service::work to keep the io_service running in thread
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private: boost::asio::io_service::work *work;
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private: unsigned int count;
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private: boost::thread *thread;
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};
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/// \}
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}
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}
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#endif
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