/opt/ros/diamondback/stacks/graspit_simulator/graspit_dbase_tasks/include/graspit_dbase_tasks/dbTaskDispatcher.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! 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, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s):  Matei T. Ciocarlie
//
// $Id: taskDispatcher.h,v 1.3 2010/04/12 20:15:30 cmatei Exp $
//
//######################################################################

#ifndef _DB_TASK_DISPATCHER_H_
#define _DB_TASK_DISPATCHER_H_

#include <string>
#include <map>

#include "plugin.h"

namespace db_planner {
  class DatabaseManager;
  class TaskRecord;
}

namespace graspit_dbase_tasks {

class DBTask;
class DBTaskDispatcher;

class DBTaskCreator
{
public:
  virtual DBTask* operator()(DBTaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) = 0;
};


class DBTaskDispatcher : public Plugin
{
 public:
  enum Status {READY, NO_TASK, ERROR, RUNNING, DONE};
 private:
  std::map<std::string,DBTaskCreator*> mTaskCreators;

  db_planner::DatabaseManager *mDBMgr;

  DBTask *mCurrentTask;
  
  Status mStatus;

  int mCompletedTasks;

  int mMaxTasks;

  int connect(std::string host, int port, std::string username, 
              std::string password, std::string database);
  
public:
  DBTaskDispatcher();
  ~DBTaskDispatcher();

  int init(int argc, char **argv);
  
  void checkCurrentTask();

  void startNewTask();

  void registerTaskCreator(std::string task_name, DBTaskCreator* creator)
  {
    mTaskCreators[task_name] = creator;
  }

  int mainLoop();
  
  Status getStatus() const {return mStatus;}
};

} //namespace dbase_tasks

#endif

---

graspit_dbase_tasks
Author(s): Matei Ciocarlie
autogenerated on Wed Jan 25 11:05:55 2012