dbTask.h

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#ifndef _DB_TASK_H_
#define _DB_TASK_H_

#include <iostream>

#include "DBPlanner/task.h"

namespace db_planner {
  class DatabaseManager;
}

namespace graspit_dbase_tasks {

class DBTaskDispatcher;


class DBTask {
 public:
  enum Status{RUNNING, ERROR, DONE};
 protected:
  Status mStatus;

  DBTaskDispatcher* mDispatcher;


  db_planner::DatabaseManager *mDBMgr;

  db_planner::TaskRecord mRecord;
  
public:
  DBTask(DBTaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) 
    : mDispatcher(disp), mDBMgr(mgr), mRecord(rec) {};

  virtual ~DBTask(){}

  virtual void start() = 0;

  virtual void mainLoop() {}

  Status getStatus(){return mStatus;}

  db_planner::TaskRecord getRecord(){return mRecord;}
};


class DBEmptyTask : public DBTask
{
 public:
  DBEmptyTask(DBTaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) :
    DBTask(disp, mgr, rec) {}
  ~DBEmptyTask(){}
  void start(){std::cout << "Started simple task\n"; mStatus = RUNNING;}
  void mainLoop(){std::cout << "Finished simple task\n"; mStatus = DONE;}
};


class DBEmptyOneShotTask : public DBTask
{
 public:
  DBEmptyOneShotTask(DBTaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) :
    DBTask(disp, mgr, rec) {}
  ~DBEmptyOneShotTask(){}
  void start(){std::cout << "Started and finished one-shot simple task\n"; mStatus = DONE;}
};

}

#endif