/usr/include/ros/poll_set.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_POLL_SET_H
#define ROSCPP_POLL_SET_H
#include <vector>
#include "io.h"
#include "common.h"
#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>
#include <boost/thread/mutex.hpp>
namespace ros
{
class Transport;
typedef boost::shared_ptr<Transport> TransportPtr;
/**
* \brief Manages a set of sockets being polled through the poll() function call.
*
* PollSet provides thread-safe ways of adding and deleting sockets, as well as adding
* and deleting events.
*/
class ROSCPP_DECL PollSet
{
public:
PollSet();
~PollSet();
typedef boost::function<void(int)> SocketUpdateFunc;
/**
* \brief Add a socket.
*
* addSocket() may be called from any thread.
* \param sock The socket to add
* \param update_func The function to call when a socket has events
* \param transport The (optional) transport associated with this socket. Mainly
* used to prevent the transport from being deleted while we're calling the update function
*/
bool addSocket(int sock, const SocketUpdateFunc& update_func, const TransportPtr& transport = TransportPtr());
/**
* \brief Delete a socket
*
* delSocket() may be called from any thread.
* \param sock The socket to delete
*/
bool delSocket(int sock);
/**
* \brief Add events to be polled on a socket
*
* addEvents() may be called from any thread.
* \param sock The socket to add events to
* \param events The events to add
*/
bool addEvents(int sock, int events);
/**
* \brief Delete events to be polled on a socket
*
* delEvents() may be called from any thread.
* \param sock The socket to delete events from
* \param events The events to delete
*/
bool delEvents(int sock, int events);
/**
* \brief Process all socket events
*
* This function will actually call poll() on the available sockets, and allow
* them to do their processing.
*
* update() may only be called from one thread at a time
*
* \param poll_timeout The time, in milliseconds, for the poll() call to timeout after
* if there are no events. Note that this does not provide an upper bound for the entire
* function, just the call to poll()
*/
void update(int poll_timeout);
/**
* \brief Signal our poll() call to finish if it's blocked waiting (see the poll_timeout
* option for update()).
*/
void signal();
private:
/**
* \brief Creates the native pollset for our sockets, if any have changed
*/
void createNativePollset();
/**
* \brief Called when events have been triggered on our signal pipe
*/
void onLocalPipeEvents(int events);
struct SocketInfo
{
TransportPtr transport_;
SocketUpdateFunc func_;
int fd_;
int events_;
};
typedef std::map<int, SocketInfo> M_SocketInfo;
M_SocketInfo socket_info_;
boost::mutex socket_info_mutex_;
bool sockets_changed_;
boost::mutex just_deleted_mutex_;
typedef std::vector<int> V_int;
V_int just_deleted_;
std::vector<socket_pollfd> ufds_;
boost::mutex signal_mutex_;
signal_fd_t signal_pipe_[2];
};
}
#endif // ROSCPP_POLL_SET_H
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