gardentech
93 lines
2.6 KiB
C++
93 lines
2.6 KiB
C++
//
|
|
// The MIT License (MIT)
|
|
//
|
|
// Copyright (c) 2022 Livox. All rights reserved.
|
|
//
|
|
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
// of this software and associated documentation files (the "Software"), to deal
|
|
// in the Software without restriction, including without limitation the rights
|
|
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
// copies of the Software, and to permit persons to whom the Software is
|
|
// furnished to do so, subject to the following conditions:
|
|
//
|
|
// The above copyright notice and this permission notice shall be included in
|
|
// all copies or substantial portions of the Software.
|
|
//
|
|
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
// SOFTWARE.
|
|
//
|
|
|
|
#ifndef LIVOX_IO_LOOP_H_
|
|
#define LIVOX_IO_LOOP_H_
|
|
|
|
#include <functional>
|
|
#include <mutex>
|
|
#include <unordered_map>
|
|
#include <utility>
|
|
#include <vector>
|
|
#include <algorithm>
|
|
#include "command_callback.h"
|
|
#include "noncopyable.h"
|
|
#include "thread_base.h"
|
|
#include "multiple_io/multiple_io_base.h"
|
|
#include "multiple_io/multiple_io_factory.h"
|
|
|
|
namespace livox {
|
|
namespace lidar {
|
|
|
|
#define OPEN_MAX_POLL 48
|
|
#define POLL_TIMEOUT 50 //ms
|
|
typedef int socket_t;
|
|
|
|
class IOLoop : public noncopyable {
|
|
public:
|
|
typedef std::function<void(void)> IOLoopTask;
|
|
|
|
class IOLoopDelegate {
|
|
public:
|
|
virtual void OnData(socket_t, void *) {}
|
|
virtual void OnTimer(std::chrono::steady_clock::time_point) {}
|
|
virtual void OnWake() {}
|
|
};
|
|
|
|
public:
|
|
explicit IOLoop(bool enable_timer = true, bool enable_wake = true)
|
|
: enable_timer_(enable_timer), enable_wake_(enable_wake){};
|
|
|
|
|
|
bool Init();
|
|
void Uninit();
|
|
void AddDelegate(socket_t sock, IOLoopDelegate *delegate, void *data = NULL);
|
|
void RemoveDelegate(socket_t sock, IOLoopDelegate *delegate);
|
|
void Loop();
|
|
bool Wakeup();
|
|
void PostTask(const IOLoopTask &task);
|
|
|
|
private:
|
|
void AddDelegateAsync(socket_t sock, IOLoopDelegate *delegate, void *data);
|
|
void RemoveDelegateAsync(socket_t sock);
|
|
|
|
private:
|
|
std::mutex mutex_;
|
|
bool enable_timer_;
|
|
bool enable_wake_;
|
|
std::vector<IOLoopTask> pending_tasks_;
|
|
std::unique_ptr<MultipleIOBase> multiple_io_base_;
|
|
};
|
|
|
|
} // namespace lidar
|
|
} // namespace livox
|
|
|
|
#endif // LIVOX_IO_LOOP_H_
|
|
|
|
|
|
|
|
|
|
|
|
|