TaskCore.hpp

/***************************************************************************
  tag: FMTC  do nov 2 13:06:07 CET 2006  TaskCore.hpp

                        TaskCore.hpp -  description
                           -------------------
    begin                : do november 02 2006
    copyright            : (C) 2006 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
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 *                                                                         *
 ***************************************************************************/


#ifndef ORO_TASK_CORE_HPP
#define ORO_TASK_CORE_HPP

#include "OperationInterface.hpp"
#include <string>

namespace RTT
{
    class ExecutionEngine;

    class RTT_API TaskCore
    {
    public:
        enum TaskState { Init,           
                         PreOperational, 
                         FatalError,     
                         Stopped,        
                         Active,         
                         Running,        
                         RunTimeWarning, 
                         RunTimeError    
        };

        TaskCore( const std::string& name, TaskState initial_state = Stopped  );

        TaskCore(const std::string& name, ExecutionEngine* parent, TaskState initial_state = Stopped );

        virtual ~TaskCore();

        virtual TaskState getTaskState() const;

        virtual int getWarningCount() const;

        virtual int getErrorCount() const;

        virtual bool configure();

        virtual bool activate();

        virtual bool start();

        virtual bool stop();

        virtual bool cleanup();

        virtual bool resetError();

        virtual bool isConfigured() const;

        virtual bool isActive() const;

        virtual bool isRunning() const;

        virtual double getPeriod() const;

        virtual bool inFatalError() const;

        virtual bool inRunTimeWarning() const;

        virtual bool inRunTimeError() const;

        virtual bool doUpdate();

        virtual bool doTrigger();
        virtual const std::string& getName() const
        {
            return mtask_name;
        }

        virtual void setName(const std::string& n)
        {
            mtask_name = n;
        }

        void setExecutionEngine(ExecutionEngine* engine);

        const ExecutionEngine* engine() const
        {
            return ee;
        }

        ExecutionEngine* engine()
        {
            return ee;
        }

    protected:
        virtual bool configureHook();

        virtual void cleanupHook();

        virtual bool activateHook();

        virtual bool startHook();

        virtual bool startup();

        virtual void updateHook();

        virtual bool breakUpdateHook();

        virtual void errorHook();

        virtual void update();

        virtual void stopHook();

        virtual void shutdown();

        virtual bool resetHook();

        virtual void warning();

        virtual void error();

        virtual void fatal();

        virtual void recovered();

        // Required to set mTaskState to Running or Stopped.
        // As an alternative, one could query the EE.
        friend class ExecutionEngine;

        std::string    mtask_name;

        ExecutionEngine* ee;

        TaskState mTaskState;

        int runtime_warnings;
        int runtime_errors;
    private:
        // non copyable
        TaskCore( TaskCore& );
    };
}

#endif