26 #if !LELY_NO_COAPP_MASTER && !LELY_NO_THREADS
58 ::std::atomic_flag shutdown{
false};
65 ::std::atomic_flag joined{
false};
78 :
BasicDriver(strand.get_inner_executor(), master, id),
79 impl_(new
Impl_(this, master.GetContext())) {}
90 return impl_->stopped.get_future();
98 }
catch (const ::std::system_error& e) {
107 ::std::error_code ec;
109 if (ec) throw ::std::system_error(ec,
"USleep");
127 thread(&Impl_::Start, this)
133 [](
void* arg) noexcept {
138 util::throw_errc(
"thrd_create");
143 LoopDriver::Impl_::~Impl_() {
149 LoopDriver::Impl_::Start() {
150 auto& loop =
self->GetLoop();
151 auto exec =
self->GetExecutor();
161 self->master.Erase(*
self);
173 LoopDriver::Impl_::Shutdown() {
174 if (!shutdown.test_and_set()) {
176 self->master.Erase(*
self);
178 self->GetLoop().stop();
183 LoopDriver::Impl_::Join() {
184 if (!joined.test_and_set()) {
An asynchronous CANopen master.
The base class for drivers for remote CANopen nodes.
BasicMaster & master
A reference to the master with which this driver is registered.
A CANopen driver running its own dedicated event loop in a separate thread.
void USleep(uint_least64_t usec)
Runs the event loop for usec microseconds.
T Wait(SdoFuture< T > f)
Waits for the specified future to become ready by running pending tasks on the dedicated event loop o...
ev::Loop & GetLoop() noexcept
Returns a reference to the dedicated event loop of the driver.
void Join()
Stops the dedicated event loop of the driver and waits until the thread running the event loop finish...
ev::Future< void, void > AsyncStoppped() noexcept
Returns a future which becomes ready once the dedicated event loop of the driver is stopped and the t...
~LoopDriver()
Stops the event loop and terminates the thread in which it was running before destroying the driver.
ev::Future< void, ::std::exception_ptr > AsyncWait(ev_exec_t *exec, const time_point &t, io_tqueue_wait **pwait=nullptr)
Submits an asynchronous wait operation and creates a future which becomes ready once the wait operati...
bool CancelWait(io_tqueue_wait &wait) noexcept
Cancels the specified wait operation if it is pending.
::std::size_t wait(ev_future_t *future)
The exception thrown when retrieving the result of a future which is not ready or does not contain a ...
A refence to an I/O context. This class is a wrapper around #io_ctx_t*.
void remove(io_svc &svc) noexcept
This is the internal header file of the C++ CANopen application library.
#define IO_SVC_INIT(vptr)
The static initializer for io_svc.
This header file is part of the C++ CANopen application library; it contains the declarations for the...
::std::error_code make_error_code(SdoErrc e) noexcept
Creates an error code corresponding to an SDO abort code.
The virtual table of an I/O service.
A wait operation suitable for use with a timer queue.
The internal implementation of lely::canopen::LoopDriver.
This header file is part of the C11 and POSIX compatibility library; it includes <threads....
int thrd_create(thrd_t *thr, thrd_start_t func, void *arg)
Creates a new thread executing func(arg).
pthread_t thrd_t
A complete object type that holds an identifier for a thread.
int thrd_join(thrd_t thr, int *res)
Joins the thread identified by thr with the current thread by blocking until the other thread has ter...
@ thrd_success
Indicates that the requested operation succeeded.