ActiveObject.cpp

Go to the documentation of this file.

/*
Copyright 2007, 2008, 2009, 2010, 2011 Instituto de Sistemas e Robotica, Instituto Superior Tecnico

This file is part of MeRMaID.

MeRMaID is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

MeRMaID 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 Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with MeRMaID.  If not, see <http://www.gnu.org/licenses/>.
*/



/**
 * @Filename ActiveObject.cpp
 * @Description ActiveObject base implementation
 * @Status Work in Progress
 * @Version $Id: ActiveObject.cpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer Marco Barbosa
 */


#include "config.h"

#include "ActiveObject.hpp"

#include <CommunicationGateway.hpp>
#include <Exception.hpp>

#include <iostream>

using namespace mermaid::support::activeobject;
using mermaid::support::errorhandling::Exception;
using boost::shared_ptr;

ActiveObject::ActiveObject (ActiveObjectManager * aom)
{
  state_ = INITIALIZING; // not using set state to avoid manager notifications during construction
  
  aoManager_ = aom;
  taskScheduler_ = shared_ptr<TaskScheduler> (new TaskScheduler());
  
  commGateway_ = shared_ptr<CommunicationGateway> (new CommunicationGateway());
  
  state_ = INITIALIZED;
}; // ActiveObject()


ActiveObject::~ActiveObject()
{

};

ActiveObjectState ActiveObject::getState()
{
  return state_;
};

std::string ActiveObject::getStateString()
{
  return getStateString (state_);
}; // getStateString

std::string ActiveObject::getStateString (ActiveObjectState state)
{

  if (state == INITIALIZING) {
    return "INITIALIZING";
  }
  else if (state == INITIALIZED) {
    return "INITIALIZED";
  }
  else if (state == STOPPING) {
    return "STOPPING";
  }
  else if (state == STOPPED) {
    return "STOPPED";
  }
  else if (state == PAUSING) {
    return "PAUSING";
  }
  else if (state == PAUSED) {
    return "PAUSED";
  }
  else if (state == RUNNING) {
    return "RUNNING";
  }
  else {
    return "unknown";
  }
  
};

void ActiveObject::setState (ActiveObjectState s)
{
  if (state_ != s) {
    ActiveObjectState previousState = state_;
    state_ = s;
    aoManager_->notifyActiveObjectStateChange (this, previousState);
  }
}; // setState()


void ActiveObject::addTask (shared_ptr<Task> t)
{
  //std::cerr << "ActiveObject::addTask : task=" << t.get() << std::endl;
  if (!taskScheduler_) {
    throw new Exception ("ActiveObject::addTask : no available task scheduler");
  }
  
  taskScheduler_->addTask (t);
}; // addTask()


shared_ptr<CommunicationGateway> ActiveObject::getCommunicationGateway()
{
  return commGateway_;
}; // getCommunicationGateway()