/home/opennao/work/master/sdk/libqi/qi/eventloop.hpp

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#pragma once
/*
**  Copyright (C) 2012 Aldebaran Robotics
**  See COPYING for the license
*/

#ifndef _QI_EVENTLOOP_HPP_
#define _QI_EVENTLOOP_HPP_

#ifdef _MSC_VER
#  pragma warning( disable: 4503 ) // decorated name length
#endif

#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>

#include <qi/types.hpp>
#include <qi/api.hpp>

#ifdef _MSC_VER
#  pragma warning( push )
#  pragma warning( disable: 4251 )
#endif

namespace boost {
  namespace asio {
    class io_service;
}}

namespace qi
{
  template<typename T> class Future;

  class EventLoopPrivate;
  class QI_API EventLoop
  {
  public:
    EventLoop();
    ~EventLoop();
    bool isInEventLoopThread();
    void start(int nthreads = 0);
    void startThreadPool(int minWorkers=-1, int maxWorkers=-1, int minIdleWorkers=-1, int maxIdleWorkers=-1);
    void join();
    void stop();
    void run();
    void setEmergencyCallback(boost::function<void()> cb);

    void setMaxThreads(unsigned int max);

    // Internal function
    void *nativeHandle();


    template<typename R>
    Future<R> async(boost::function<R()> callback, uint64_t usDelay=0);
    Future<void> async(boost::function<void ()> callback, uint64_t usDelay=0);


    void post(const boost::function<void ()>& callback, uint64_t usDelay=0);

    Future<void> monitorEventLoop(EventLoop* helper, uint64_t maxUsDelay);

    EventLoopPrivate *_p;
  };

  QI_API EventLoop* getEventLoop();

  QI_API void startEventLoop(int nthread);

  QI_API boost::asio::io_service& getIoService();

  QI_API QI_API_DEPRECATED EventLoop* getDefaultNetworkEventLoop();
  QI_API QI_API_DEPRECATED EventLoop* getDefaultObjectEventLoop();
  QI_API QI_API_DEPRECATED EventLoop* getDefaultThreadPoolEventLoop();
}

#ifdef _MSC_VER
#  pragma warning( pop )
#endif

#include <qi/details/eventloop.hxx>
#endif  // _QI_EVENTLOOP_HPP_