driver.cpp

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#include "coapp.hpp"

#if !LELY_NO_COAPP_MASTER

#include <lely/coapp/driver.hpp>

#if !LELY_NO_THREADS
#include <thread>
#endif

namespace lely {

namespace canopen {

#if !LELY_NO_THREADS
struct LoopDriver::Impl_ {
  explicit Impl_(LoopDriver* self);
  ~Impl_();

  void Start();

  LoopDriver* self{nullptr};
  ::std::thread thread;
};
#endif

BasicDriver::BasicDriver(aio::LoopBase& loop, aio::ExecutorBase& exec,
                         BasicMaster& master_, uint8_t id)
    : master(master_), loop_(loop), exec_(exec), id_(id) {
  master.Insert(*this);
}

BasicDriver::~BasicDriver() { master.Erase(*this); }

uint8_t
BasicDriver::netid() const noexcept {
  return master.netid();
}

#if !LELY_NO_THREADS

LoopDriver::LoopDriver(BasicMaster& master, uint8_t id)
    : BasicDriver(loop, exec, master, id), impl_(new Impl_(this)) {}

LoopDriver::~LoopDriver() = default;

LoopDriver::Impl_::Impl_(LoopDriver* self_)
    : self(self_), thread(&Impl_::Start, this) {}

LoopDriver::Impl_::~Impl_() {
  self->GetLoop().Stop();
  thread.join();
}

void
LoopDriver::Impl_::Start() {
  auto loop = self->GetLoop();
  auto exec = self->GetExecutor();

  // Start the event loop. Signal the existance of a fake task to
  // prevent the loop for stopping early.
  exec.OnTaskStarted();
  loop.Run();
  exec.OnTaskFinished();

  // Finish remaining tasks, but do not block.
  loop.Restart();
  loop.RunFor();
}

#endif  // !LELY_NO_THREADS

}  // namespace canopen

}  // namespace lely

#endif  // !LELY_NO_COAPP_MASTER