mtsTaskContinuous.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):  Peter Kazanzides
  Created on: 2008-09-23

  (C) Copyright 2008-2012 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 _mtsTaskContinuous_h
#define _mtsTaskContinuous_h

#include <cisstMultiTask/mtsTask.h>

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


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

    mtsTaskContinuousConstructorArg() : mtsGenericObject() {}
    mtsTaskContinuousConstructorArg(const std::string &name, 
                                    unsigned int sizeStateTable = STATE_TABLE_DEFAULT_SIZE,
                                    bool newThread = true) :
        mtsGenericObject(), Name(name), StateTableSize(sizeStateTable), NewThread(newThread) {}
    mtsTaskContinuousConstructorArg(const mtsTaskContinuousConstructorArg &other) : mtsGenericObject(),
        Name(other.Name), StateTableSize(other.StateTableSize), NewThread(other.NewThread) {}
    ~mtsTaskContinuousConstructorArg() {}

    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(mtsTaskContinuousConstructorArg);

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

    friend class mtsTaskManager;

public:
    typedef mtsTask BaseType;

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

    bool NewThread;

    bool CaptureThread;

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

    virtual void *RunInternal(void* argument);

    virtual void StartInternal(void);

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

    mtsTaskContinuous(const std::string & name,
                      unsigned int sizeStateTable = 256,
                      bool newThread = true);

    mtsTaskContinuous(const mtsTaskContinuousConstructorArg &arg);

    virtual ~mtsTaskContinuous();

    /********************* Methods to change task status *****************/

    /* Create a new thread (if needed). */
    void Create(void *data = 0);

    void Start(void);

    void Suspend(void);

    void Kill(void);
};


CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskContinuous)

// Continuous task that doesn't create a thread (uses main thread).

class CISST_EXPORT mtsTaskMain : public mtsTaskContinuous
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
public:
    mtsTaskMain(const std::string &name) : mtsTaskContinuous(name, 256, false) {}
    ~mtsTaskMain() {}
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskMain)

#endif // _mtsTaskContinuous_h