IOService.h

Go to the documentation of this file.

/*
 * 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:
 *   Licensees holding valid commercial licenses may use this file in
 *   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.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_IOSERVICE_H_
#define _MIRA_IOSERVICE_H_

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

#include <platform/Platform.h>

// Use a forward declaration for boost::thread to reduce compile times.

namespace boost {
    class thread;
}


namespace mira {


#if BOOST_VERSION < 106600
typedef boost::asio::io_service BoostAsioIOObjectType;
#else
typedef boost::asio::io_context BoostAsioIOObjectType;
#endif


class IOService
{
public:
    IOService();

    IOService(BoostAsioIOObjectType& service);

    virtual ~IOService() {}

    void runThreads(std::size_t threadCount = 0, bool runInThisThread = true);

    std::size_t run()
    {
        return mService.run();
    }

    std::size_t runOne()
    {
        return mService.run_one();
    }

    void stop()
    {
        mService.stop();
    }

    void reset()
    {
#if BOOST_VERSION < 106600
        mService.reset();
#else
        mService.restart();
#endif
    }

    operator BoostAsioIOObjectType&()
    {
        return mService;
    }

    template <typename CompletionHandler>
    void post(CompletionHandler handler)
    {
#if BOOST_VERSION < 106600
        mService.post(handler);
#else
        boost::asio::post(mService.get_executor(), handler);
#endif
    }

    void join();

private:
    class Pimpl;
    std::shared_ptr<Pimpl> mPimpl;

    BoostAsioIOObjectType& mService;

    typedef boost::shared_ptr<boost::thread> ThreadPtr;
    std::vector<ThreadPtr> mThreads;
};

typedef boost::shared_ptr<BoostAsioIOObjectType> ServicePtr;

typedef boost::shared_ptr<IOService> IOServicePtr;


} // namespace

#endif