ArSyncTask.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program 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 2 of the License, or
     (at your option) any later version.

     This program 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 this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "ArExport.h"
#include "ariaOSDef.h"
#include "ariaUtil.h"
#include "ArSyncTask.h"
#include "ArLog.h"

AREXPORT ArSyncTask::ArSyncTask(const char *name, ArFunctor *functor,
                ArTaskState::State *state, ArSyncTask *parent)
{
  myName = name;
  myStatePointer = state;
  myFunctor = functor;
  myParent = parent;
  myIsDeleting = false;
  setState(ArTaskState::INIT);
  if (myParent != NULL)
  {
    setWarningTimeCB(parent->getWarningTimeCB());
    setNoTimeWarningCB(parent->getNoTimeWarningCB());
  }
  else
  {
    setWarningTimeCB(NULL);
    setNoTimeWarningCB(NULL);
  }
}

AREXPORT ArSyncTask::~ArSyncTask()
{
  myIsDeleting = true;
  if (myParent != NULL && !myParent->isDeleting())
    myParent->remove(this);
  
  ArUtil::deleteSetPairs(myMultiMap.begin(), myMultiMap.end());  
  myMultiMap.clear();
}

AREXPORT ArTaskState::State ArSyncTask::getState(void)
{
  if (myStatePointer != NULL)
    return *myStatePointer;
  else
    return myState;
}

AREXPORT void ArSyncTask::setState(ArTaskState::State state)
{
  if (myStatePointer != NULL)
    *myStatePointer = state;
  else
    myState = state;
}

AREXPORT std::string ArSyncTask::getName(void)
{
  return myName;
}


AREXPORT ArSyncTask *ArSyncTask::find(ArFunctor *functor)
{
  ArSyncTask *proc;
  std::multimap<int, ArSyncTask *>::iterator it;
  
  if (myFunctor == functor)
    return this;

  for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
  {
    proc = (*it).second;
    if (proc->find(functor) != NULL)
      return proc;
  }
  return NULL;
  
}

AREXPORT ArSyncTask *ArSyncTask::find(const char *name)
{
  ArSyncTask *proc;
  std::multimap<int, ArSyncTask *>::iterator it;
  
  if (strcmp(myName.c_str(), name) == 0)
    return this;

  for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
  {
    proc = (*it).second;
    if (proc->find(name) != NULL)
      return proc;
  }
  return NULL;
  
}

AREXPORT ArSyncTask *ArSyncTask::findNonRecursive(const char * name)
{
  ArSyncTask *proc;
  std::multimap<int, ArSyncTask *>::iterator it;
  
  for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
  {
    proc = (*it).second;
    if (strcmp(proc->getName().c_str(), name) == 0)  
      return proc;
  }
  return NULL;
}

AREXPORT ArSyncTask *ArSyncTask::findNonRecursive(ArFunctor *functor)
{
  ArSyncTask *proc;
  std::multimap<int, ArSyncTask *>::iterator it;
  
  for (it = myMultiMap.begin(); it != myMultiMap.end(); ++it)
  {
    proc = (*it).second;
    if (proc->getFunctor() == functor)
      return proc;
  }
  return NULL;
}

AREXPORT void ArSyncTask::addNewBranch(const char *nameOfNew, int position,
                       ArTaskState::State *state)
{
  ArSyncTask *proc = new ArSyncTask(nameOfNew, NULL, state, this);
  myMultiMap.insert(std::pair<int, ArSyncTask *>(position, proc));
}

AREXPORT void ArSyncTask::addNewLeaf(const char *nameOfNew, int position, 
                     ArFunctor *functor, 
                     ArTaskState::State *state)
{
  ArSyncTask *proc = new ArSyncTask(nameOfNew, functor, state, this);
  myMultiMap.insert(std::pair<int, ArSyncTask *>(position, proc));
}

AREXPORT void ArSyncTask::remove(ArSyncTask *proc)
{
  std::multimap<int, ArSyncTask *>::iterator it;
  
  for (it = myMultiMap.begin(); it != myMultiMap.end(); it++)
  {
    if ((*it).second == proc)
    {
      myMultiMap.erase(it);
      return;
    }
  }
}

AREXPORT bool ArSyncTask::isDeleting(void)
{
  return myIsDeleting;
}

AREXPORT ArFunctor *ArSyncTask::getFunctor(void)
{
  return myFunctor;
}

AREXPORT void ArSyncTask::run(void)
{
  std::multimap<int, ArSyncTask *>::reverse_iterator it;
  ArTaskState::State state;
  ArTime runTime;
  int took;  

  state = getState();
  switch (state) 
  {
  case ArTaskState::SUSPEND:
  case ArTaskState::SUCCESS:
  case ArTaskState::FAILURE:
    // The task isn't running so just return
    return;
  case ArTaskState::INIT:
  case ArTaskState::RESUME:
  case ArTaskState::ACTIVE:
  default:
    break;
  }
  
  runTime.setToNow();
  if (myFunctor != NULL)
    myFunctor->invoke();
  
  if (myNoTimeWarningCB != NULL && !myNoTimeWarningCB->invokeR() && 
      myFunctor != NULL && myWarningTimeCB != NULL &&
      (took = runTime.mSecSince()) > (signed int)myWarningTimeCB->invokeR())
    ArLog::log(ArLog::Normal, 
           "Warning: Task '%s' took %d ms to run (longer than the %d warning time)",
           myName.c_str(), took, (signed int)myWarningTimeCB->invokeR());
  
  
  for (it = myMultiMap.rbegin(); it != myMultiMap.rend(); it++)
    (*it).second->run();
}

AREXPORT void ArSyncTask::setWarningTimeCB(ArRetFunctor<unsigned int> *functor)
{
  std::multimap<int, ArSyncTask *>::reverse_iterator it;
  myWarningTimeCB = functor;
  for (it = myMultiMap.rbegin(); it != myMultiMap.rend(); it++)
    (*it).second->setWarningTimeCB(functor);
}

AREXPORT ArRetFunctor<unsigned int> *ArSyncTask::getWarningTimeCB(void)
{
  return myWarningTimeCB;
}

AREXPORT void ArSyncTask::setNoTimeWarningCB(ArRetFunctor<bool> *functor)
{
  std::multimap<int, ArSyncTask *>::reverse_iterator it;
  myNoTimeWarningCB = functor;
  for (it = myMultiMap.rbegin(); it != myMultiMap.rend(); it++)
    (*it).second->setNoTimeWarningCB(functor);
}

AREXPORT ArRetFunctor<bool> *ArSyncTask::getNoTimeWarningCB(void)
{
  return myNoTimeWarningCB;
}


AREXPORT void ArSyncTask::log(int depth)
{
  int i;
  std::multimap<int, ArSyncTask *>::reverse_iterator it;
  std::string str = "";
  ArTaskState::State state;
  
  for (i = 0; i < depth; i++)
    str += "\t";
  str += myName.c_str();
  str += " (";
  state = getState();
  switch (state) 
  {
  case ArTaskState::INIT:
    str += "INIT, running)";
    break;
  case ArTaskState::RESUME:
    str += "RESUME, running)";
    break;
  case ArTaskState::ACTIVE:
    str += "ACTIVE, running)";
    break;
  case ArTaskState::SUSPEND:
    str += "SUSPEND, NOT running)";
    break;
  case ArTaskState::SUCCESS:
    str += "SUCCESS, NOT running)";
    break;
  case ArTaskState::FAILURE:
    str += "FAILURE, NOT running)";
    break;
  default:
    str += state;
    str += ", running)";
    break;
  }
  ArLog::log(ArLog::Terse, const_cast<char *>(str.c_str()));
  for (it = myMultiMap.rbegin(); it != myMultiMap.rend(); it++)
    (*it).second->log(depth + 1);
  
}

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