mtsTaskPeriodic.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):  Ankur Kapoor, Peter Kazanzides, Anton Deguet
  Created on: 2004-04-30

  (C) Copyright 2004-2011 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _mtsTaskPeriodic_h
#define _mtsTaskPeriodic_h

#include <cisstCommon/cmnUnits.h>
#include <cisstMultiTask/mtsTaskContinuous.h>
#include <cisstOSAbstraction/osaThreadBuddy.h>
#include <cisstOSAbstraction/osaTimeServer.h>

// Always include last
#include <cisstMultiTask/mtsExport.h>

class CISST_EXPORT mtsTaskPeriodicConstructorArg : public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
public:
    enum { STATE_TABLE_DEFAULT_SIZE = 256 };
    std::string Name;
    double Period;
    bool IsHardRealTime;
    unsigned int StateTableSize;

    mtsTaskPeriodicConstructorArg() : mtsGenericObject() {}
    mtsTaskPeriodicConstructorArg(const std::string &name, double period, bool isHardRealTime = false,
                                  unsigned int sizeStateTable = STATE_TABLE_DEFAULT_SIZE) : 
        mtsGenericObject(), Name(name), Period(period), IsHardRealTime(isHardRealTime), StateTableSize(sizeStateTable) {}
    mtsTaskPeriodicConstructorArg(const mtsTaskPeriodicConstructorArg &other) : mtsGenericObject(),
        Name(other.Name), Period(other.Period), IsHardRealTime(other.IsHardRealTime), StateTableSize(other.StateTableSize) {}
    ~mtsTaskPeriodicConstructorArg() {}

    void SerializeRaw(std::ostream & outputStream) const;
    void DeSerializeRaw(std::istream & inputStream);

    void ToStream(std::ostream & outputStream) const;

    virtual void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                             bool headerOnly = false, const std::string & headerPrefix = "") const;

    virtual bool FromStreamRaw(std::istream & inputStream, const char delimiter = ' ');
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskPeriodicConstructorArg);

class CISST_EXPORT mtsTaskPeriodic : public mtsTaskContinuous
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);

    friend class mtsTaskManager;

 public:
    typedef mtsTaskContinuous BaseType;

 protected:
    /************************ Protected task data  *********************/

    osaThreadBuddy ThreadBuddy;

    double Period;
    osaAbsoluteTime AbsoluteTimePeriod;
   
    bool IsHardRealTime;

    /********************* Methods that call user methods *****************/

    virtual void *RunInternal(void* argument);

    void StartupInternal(void);

    void CleanupInternal(void);

    void StartInternal(void);

 public:
    /********************* Task constructor and destructor *****************/

    mtsTaskPeriodic(const std::string & name,
                    double periodicityInSeconds,
                    bool isHardRealTime = false,
                    unsigned int sizeStateTable = 256,
                    bool newThread = true);

    mtsTaskPeriodic(const std::string & name,
                    const osaAbsoluteTime& periodicity,
                    bool isHardRealTime = false,
                    unsigned int sizeStateTable = 256,
                    bool newThread = true);

    mtsTaskPeriodic(const mtsTaskPeriodicConstructorArg &arg);

    virtual ~mtsTaskPeriodic();

    /********************* Methods to change task status *****************/
    /* (use Start, Create and Kill methods from base classes)            */

    void Suspend(void);

    /********************* Methods for task period and overrun ************/

    double GetPeriodicity(void) const;

    bool IsPeriodic(void) const;

};


CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskPeriodic)


#endif // _mtsTaskPeriodic_h