RepetitiveTask.h

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/* ============================================================
 *
 * This file is a part of the RSC project.
 *
 * Copyright (C) 2011 by Johannes Wienke <jwienke at techfak dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>
#include <set>

#include <boost/function.hpp>
#include <boost/thread.hpp>
#include <boost/thread/condition.hpp>
#include <boost/timer.hpp>

#include "Task.h"

namespace rsc {
namespace threading {

class RSC_EXPORT RepetitiveTask: public Task {
public:

    RepetitiveTask();

    virtual ~RepetitiveTask();

    virtual void pre();

    virtual void execute() = 0;

    virtual void post();

    virtual void cancel();

    virtual bool isCancelRequested();

    virtual bool continueExec();

    void run();

    virtual void waitDone();
    virtual bool isDone();

    friend std::ostream& operator<<(std::ostream& out, const RepetitiveTask& t);

protected:

    mutable boost::recursive_mutex doneMutex;
    boost::condition doneCondition;

private:

    void markDone();

    void timerBeforeCycle();

    void timerAfterCycle();

    volatile bool cancelRequest;
    volatile bool done;

    rsc::logging::LoggerPtr logger;
    // TODO boost::timer measures cpu time, not really used time
    boost::timer timer;

};

std::ostream& operator<<(std::ostream& out, const RepetitiveTask& t);

}
}