/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/taskDispatcher.h

Go to the documentation of this file.

//######################################################################
//
// 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 _TASK_DISPATCHER_H_
#define _TASK_DISPATCHER_H_

#include <string>

#include "DBPlanner/task.h"

class SoSensor;
class SoTimerSensor;

namespace db_planner {
        class DatabaseManager;
        class Model;
        class Grasp;
}

class TaskDispatcher;


class Task {
 public:
        enum Status{RUNNING, ERROR, DONE};
 protected:
        Status mStatus;
        TaskDispatcher* mDispatcher;

        db_planner::DatabaseManager *mDBMgr;
        db_planner::TaskRecord mRecord;

 public:
        Task(TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) 
                : mDispatcher(disp), mDBMgr(mgr), mRecord(rec) {};
        virtual ~Task(){}
        virtual void start() = 0;
        Status getStatus(){return mStatus;}
        db_planner::TaskRecord getRecord(){return mRecord;}
};

class TaskFactory {
 public:
        inline Task* getTask(TaskDispatcher *disp, db_planner::DatabaseManager *mgr, 
                             db_planner::TaskRecord rec);
};


class TaskDispatcher 
{
 public:
        enum Status {READY, NO_TASK, ERROR, RUNNING, DONE};
 private:
        TaskFactory mFactory;
        db_planner::DatabaseManager *mDBMgr;
        Task *mCurrentTask;

        Status mStatus;
        int mCompletedTasks;
        int mMaxTasks;
        SoTimerSensor *mSensor;
 public:
        TaskDispatcher();
        ~TaskDispatcher();

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

        void checkCurrentTask();
        void startNewTask();
        void mainLoop();

        Status getStatus() const {return mStatus;}

        static void sensorCB(void *data, SoSensor*);
};


class EmptyTask : public Task
{
 private:
        SoTimerSensor *mSensor;
        void finish();
 public:
        EmptyTask(TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) :
                  Task(disp, mgr, rec), mSensor(NULL) {}
        ~EmptyTask();
        void start();
        static void sensorCB(void *data, SoSensor*);
};


class EmptyOneShotTask : public Task
{
 public:
        EmptyOneShotTask(TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec) :
                         Task(disp, mgr, rec) {}
        ~EmptyOneShotTask();
        void start(){mStatus = DONE;}
};

#endif

---

graspit
Author(s):
autogenerated on Wed Jan 25 10:58:52 2012