fiber_driver.cpp

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#include "coapp.hpp"
 
#if !LELY_NO_COAPP_MASTER
 
#include <lely/coapp/fiber_driver.hpp>
 
#include <cassert>
 
namespace lely {
 
namespace canopen {
 
namespace detail {
 
FiberDriverBase::FiberDriverBase(ev_exec_t* exec_)
#if !_WIN32 && _POSIX_MAPPED_FILES
    : thrd(ev::FiberFlag::SAVE_ERROR | ev::FiberFlag::GUARD_STACK),
#else
    : thrd(ev::FiberFlag::SAVE_ERROR),
#endif
      exec(exec_),
      strand(exec) {
}
 
}  // namespace detail
 
FiberDriver::FiberDriver(ev_exec_t* exec, AsyncMaster& master, uint8_t id)
    : FiberDriverBase(exec ? exec
                           : static_cast<ev_exec_t*>(master.GetExecutor())),
      BasicDriver(FiberDriverBase::exec, master, id) {}
 
void
FiberDriver::Wait(SdoFuture<void> f, ::std::error_code& ec) {
  fiber_await(f);
  try {
    f.get().value();
  } catch (const ::std::system_error& e) {
    ec = e.code();
  } catch (const ev::future_not_ready& e) {
    ec = ::std::make_error_code(::std::errc::operation_canceled);
  }
}
 
void
FiberDriver::USleep(uint_least64_t usec) {
  ::std::error_code ec;
  USleep(usec, ec);
  if (ec) throw ::std::system_error(ec, "USleep");
}
 
void
FiberDriver::USleep(uint_least64_t usec, ::std::error_code& ec) {
  io_tqueue_wait* wait = nullptr;
  auto f = master.AsyncWait(::std::chrono::microseconds(usec), &wait);
  assert(wait);
  Wait(f, ec);
  if (!f.is_ready()) master.CancelWait(*wait);
}
 
}  // namespace canopen
 
}  // namespace lely
 
#endif  // !LELY_NO_COAPP_MASTER