ArSyncTask.h

/*
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
*/

#ifndef ARSYNCTASK_H
#define ARSYNCTASK_H

#include <string>
#include <map>
#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ArTaskState.h"


class ArSyncTask
{
public:
  AREXPORT ArSyncTask(const char *name, ArFunctor * functor = NULL, 
              ArTaskState::State *state = NULL,
              ArSyncTask * parent = NULL);
  AREXPORT virtual ~ArSyncTask();

  AREXPORT void run(void);
  AREXPORT void log(int depth = 0);

  AREXPORT ArTaskState::State getState(void);
  AREXPORT void setState(ArTaskState::State state);
    
  AREXPORT ArSyncTask *findNonRecursive(const char *name);
  AREXPORT ArSyncTask *findNonRecursive(ArFunctor *functor);

  AREXPORT ArSyncTask *find(const char *name); 
  AREXPORT ArSyncTask *find(ArFunctor *functor);

  AREXPORT void addNewBranch(const char *nameOfNew, int position, 
                 ArTaskState::State *state = NULL);
  AREXPORT void addNewLeaf(const char *nameOfNew, int position, 
               ArFunctor *functor, 
               ArTaskState::State *state = NULL);

  AREXPORT std::string getName(void);

  AREXPORT ArFunctor *getFunctor(void);

  AREXPORT void setWarningTimeCB(
      ArRetFunctor<unsigned int> *functor);
  AREXPORT ArRetFunctor<unsigned int> *getWarningTimeCB(void);

  AREXPORT void setNoTimeWarningCB(
      ArRetFunctor<bool> *functor);
  AREXPORT ArRetFunctor<bool> *getNoTimeWarningCB(void);
  
  // removes this task from the map
  AREXPORT void remove(ArSyncTask * proc);

  // returns whether this node is deleting or not
  AREXPORT bool isDeleting(void);
protected:
  std::multimap<int, ArSyncTask *> myMultiMap;
  ArTaskState::State *myStatePointer;
  ArTaskState::State myState;
  ArFunctor *myFunctor;
  std::string myName;
  ArSyncTask *myParent;
  bool myIsDeleting;
  ArRetFunctor<unsigned int> *myWarningTimeCB;
  ArRetFunctor<bool> *myNoTimeWarningCB;
};



#endif

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