CyclicRunnable.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_CYCLICRUNNABLE_H_
#define _MIRA_CYCLICRUNNABLE_H_

#ifndef Q_MOC_RUN
#include <boost/function.hpp>
#endif

#include <thread/ThreadMonitor.h>
#include <utils/Time.h>
#include <utils/ToString.h>

namespace mira
{


class CyclicRunnable : boost::noncopyable
{
public:
    CyclicRunnable(boost::function<void ()> fn, const std::string& name="") :
        cycleTime(Duration::seconds(1)),
        mFunction(fn),
        mName(name)
    {
        if ( mName.empty() )
            mName = "CyclicRunnable " + toString(this);
    }

    CyclicRunnable(boost::function<void ()> fn, const Duration& interval,
                   const std::string& name="") :
        cycleTime(interval),
        mFunction(fn),
        mName(name)
    {}

    void operator()()
    {
        if(!ThreadMonitor::isDestroyed())
            ThreadMonitor::instance().addThisThread(mName);

        boost::timed_mutex theMutex;
        boost::system_time endtime = boost::get_system_time();
        while ( !boost::this_thread::interruption_requested() )
        {
            // calculate the time when we want to call the functor again
            // (next interval)
            endtime += cycleTime;
            mFunction();
            // scope lock the mutex
            boost::timed_mutex::scoped_lock lock(theMutex);
            // we try to lock the mutex again and block until we reach the next
            // interval time. if the specified time has already passed we go on
            // immediately.
            theMutex.timed_lock(endtime);
        }
        if(!ThreadMonitor::isDestroyed())
            ThreadMonitor::instance().removeThisThread();
    }

public:

    Duration cycleTime;

private:
    boost::function<void ()> mFunction;
    std::string mName;
};


}

#endif