TaskCore.hpp

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/***************************************************************************
  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 <string>
#include "../rtt-fwd.hpp"
#include "../rtt-config.h"
#include "../Time.hpp"

namespace RTT
{ namespace base {

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

        TaskCore( TaskState initial_state = Stopped );

        virtual ~TaskCore();

        virtual TaskState getTaskState() const;

        virtual TaskState getTargetState() const;

        virtual bool configure();

        virtual bool activate();

        virtual bool start();

        virtual bool stop();

        virtual bool cleanup();

        virtual bool isConfigured() const;

        virtual bool isActive() const;

        virtual bool isRunning() const;

        virtual Seconds getPeriod() const;

        virtual bool setPeriod(Seconds s);

        virtual unsigned getCpuAffinity() const;

        virtual bool setCpuAffinity(unsigned cpu);

        virtual bool inFatalError() const;

        virtual bool inException() const;

        virtual bool inRunTimeError() const;

        virtual bool update();

        virtual bool trigger();

        virtual void error();

        virtual bool recover();

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

        ExecutionEngine* engine()
        {
            return ee;
        }

        unsigned int getCycleCounter() const { return mCycleCounter; }
        unsigned int getTriggerCounter() const { return mTriggerCounter; }
        unsigned int getIOCounter() const { return mIOCounter; }
        unsigned int getTimeOutCounter() const { return mTimeOutCounter; }

    protected:
        virtual bool configureHook();

        virtual void cleanupHook();

        virtual bool startHook();

        virtual void updateHook();

        virtual bool breakUpdateHook();

        virtual void errorHook();

        virtual void exceptionHook();


        virtual void stopHook();

        virtual void fatal();

        virtual void exception();

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

        ExecutionEngine* ee;

        TaskState mTaskState;

    private:
        TaskState const mInitialState;
        TaskState mTargetState;

        // non copyable
        TaskCore( TaskCore& );

        friend class TaskContext;

    protected:
        bool mTriggerOnStart;

        unsigned int mCycleCounter;
        unsigned int mIOCounter;
        unsigned int mTimeOutCounter;
        unsigned int mTriggerCounter;
    };
}}

#endif