PeriodicTaskBase.h

Go to the documentation of this file.

// -*- C++ -*-
#ifndef COIL_PERIODICTASKBASE_H
#define COIL_PERIODICTASKBASE_H

#include <coil/TimeValue.h>
#include <coil/TimeMeasure.h>
#include <coil/Task.h>

namespace coil
{
  class TaskFuncBase
  {
  public:
    virtual ~TaskFuncBase() {}

    virtual int operator()() = 0;
  };
  
  template <typename T, typename F = int (*)()>
  class TaskFunc
    : public TaskFuncBase
  {
  public:
    TaskFunc(T* obj, F func)
      : m_obj(obj), m_func(func)
    {
    }

    virtual ~TaskFunc() {}

    virtual int operator()()
    {
      return (m_obj->*m_func)();
    }

    T* m_obj;

    F m_func;
  };

  class PeriodicTaskBase
    : public coil::Task
  {
  public:
    virtual ~PeriodicTaskBase(){};

    virtual void activate() = 0;

    virtual void finalize() = 0;

    virtual int suspend(void) = 0;

    virtual int resume(void) = 0;

    virtual void signal() = 0;

    virtual bool setTask(TaskFuncBase* func, bool delete_in_dtor = true) = 0;

    template <class O, class F>
    bool setTask(O* obj, F fun)
    {
      return this->setTask(new TaskFunc<O, F>(obj, fun));
    }

    virtual void setPeriod(double period) = 0;

    virtual void setPeriod(coil::TimeValue& period) = 0;

    virtual void executionMeasure(bool value) = 0;

    virtual void executionMeasureCount(int n) = 0;

    virtual void periodicMeasure(bool value) = 0;

    virtual void periodicMeasureCount(int n) = 0;

    virtual coil::TimeMeasure::Statistics getExecStat() = 0;

    virtual coil::TimeMeasure::Statistics getPeriodStat() = 0;

  };
}; // namespace coil

#endif // COIL_PERIODICTASKBASE_H