/* ARIA header files for use with ARNL 1.7.1 Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc. All rights reserved. This copy of Aria was relicensed for use with Arnl and the Arnl license by MobileRobots Inc. If you wish to download a seperate distribution of Aria licensed under the GPL or a commercial license go to http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots Inc, at robots@mobilerobots.com or MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 MobileRobots Inc hereby grants to other individuals or organizations permission to use this software with Arnl and in compliance with the Arnl license. This software may not be distributed to others except by MobileRobots Inc. MobileRobots Inc does not make any representations about the suitability of this software for any purpose. It is provided "as is" without express or implied warranty. */ #ifndef ARSYNCTASK_H #define ARSYNCTASK_H #include #include #include "ariaTypedefs.h" #include "ArFunctor.h" #include "ArTaskState.h" /// Class used internally to manage the tasks that are called every cycle /** This is used internally, no user should normally have to create one, but serious developers may want to use the members. Most users will be able to add user tasks via the ArRobot class. The way it works is that each instance is a node in a tree. The only node that should ever be created with a new is the top one. The run and print functions both call the run/print on themselves, then on all of their children, going from lowest numbered position to highest numbered, lower going first. There are no hard limits to the position, it can be any integer. ARIA uses the convention of 0 to 100, when you add things of your own you should leave room to add in between. Also you can add things with the same position, the only effect this has is that the first addition will show up first in the run or print. After the top one is created, every other task should be created with either addNewBranch() or addNewLeaf(). Each node can either be a branch node or a list node. The list (a multimap) of branches/nodes is ordered by the position passed in to the add function. addNewBranch() adds a new branch node to the instance it is called on, with the given name and position. addNewLeaf() adds a new leaf node to the instance it is called on, with the given name and position, and also with the ArFunctor given, this functor will be called when the leaf is run. Either add creates the new instance and puts it in the list of branches/nodes in the approriate spot. The tree takes care of all of its own memory management and list management, the "add" functions put into the list and creates the memory, conversely if you delete an ArSyncTask (which is the correct way to get rid of one) it will remove itself from its parents list. If you want to add something to the tree the proper way to do it is to get the pointer to the root of the tree (ie with ArRobot::getSyncProcRoot) and then to use find on the root to find the branch you want to travel down, then continue this until you find the node you want to add to. Once there just call addNewBranch or addNewLeaf and you're done. The state of a task can be stored in the target of a given ArTaskState::State pointer, or if NULL than ArSyncTask will use its own member variable. */ class ArSyncTask { public: /// Constructor, shouldn't ever do a new on anything besides the root node AREXPORT ArSyncTask(const char *name, ArFunctor * functor = NULL, ArTaskState::State *state = NULL, ArSyncTask * parent = NULL); /// Destructor AREXPORT virtual ~ArSyncTask(); /// Runs the node, which runs all children of this node as well AREXPORT void run(void); /// Prints the node, which prints all the children of this node as well AREXPORT void log(int depth = 0); /// Gets the state of the task AREXPORT ArTaskState::State getState(void); /// Sets the state of the task AREXPORT void setState(ArTaskState::State state); /// Finds the task in the instances list of children, by name AREXPORT ArSyncTask *findNonRecursive(const char *name); /// Finds the task in the instances list of children, by functor AREXPORT ArSyncTask *findNonRecursive(ArFunctor *functor); /// Finds the task recursively down the tree by name AREXPORT ArSyncTask *find(const char *name); /// Finds the task recursively down the tree by functor AREXPORT ArSyncTask *find(ArFunctor *functor); /// Returns what this is running, if anything (recurses) AREXPORT ArSyncTask *getRunning(void); /// Adds a new branch to this instance AREXPORT void addNewBranch(const char *nameOfNew, int position, ArTaskState::State *state = NULL); /// Adds a new leaf to this instance AREXPORT void addNewLeaf(const char *nameOfNew, int position, ArFunctor *functor, ArTaskState::State *state = NULL); /// Gets the name of this task AREXPORT std::string getName(void); /// Gets the functor this instance runs, if there is one AREXPORT ArFunctor *getFunctor(void); /// Sets the functor called to get the cycle warning time (should only be used from the robot) AREXPORT void setWarningTimeCB( ArRetFunctor *functor); /// Gets the functor called to get the cycle warning time (should only be used from the robot) AREXPORT ArRetFunctor *getWarningTimeCB(void); /// Sets the functor called to check if there should be a time warning this cycle (should only be used from the robot) AREXPORT void setNoTimeWarningCB( ArRetFunctor *functor); /// Gets the functor called to check if there should be a time warning this cycle (should only be used from the robot) AREXPORT ArRetFunctor *getNoTimeWarningCB(void); // removes this task from the map AREXPORT void remove(ArSyncTask * proc); // returns whether this node is deleting or not AREXPORT bool isDeleting(void); protected: std::multimap myMultiMap; ArTaskState::State *myStatePointer; ArTaskState::State myState; ArFunctor *myFunctor; std::string myName; ArSyncTask *myParent; bool myIsDeleting; ArRetFunctor *myWarningTimeCB; ArRetFunctor *myNoTimeWarningCB; // variables for introspection bool myRunning; // this is just a pointer to what we're invoking so we can know later ArSyncTask *myInvokingOtherFunctor; }; #endif