ActiveObject.hpp

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

#ifndef __ACTIVEOBJECT_ACTIVEOBJECT_H
#define __ACTIVEOBJECT_ACTIVEOBJECT_H

#include "ActiveObjectManager.hpp"
#include "ActiveObjectState.hpp"
#include "Task.hpp"
#include "TaskScheduler.hpp"

#include <CommunicationGateway.hpp>


#include <string>

namespace mermaid
{
  namespace support
  {
    namespace activeobject
    {
    
      using mermaid::support::communication::CommunicationGateway;
      using boost::shared_ptr;
      
      /**
      * @Class ActiveObject ActiveObject.hpp "ActiveObject.hpp"
      * @Description ActiveObject interface
      * @Author Marco Barbosa + Nelson Ramos
      */
      class ActiveObject
      {
      
        public:
        
          friend class ActiveObjectManager;
          
          /**
          * @Description Destructor.
          * @Author Marco Barbosa + Nelson Ramos
          */
          virtual ~ActiveObject();
          
          
          /**
          * @Description Getter for the current state of the ActiveObject.
          * @Returns ActiveObjectState representing the current state of the ActiveObject.
          * @Author Marco Barbosa + Nelson Ramos
          */
          ActiveObjectState getState();
          
          /**
          * @Description Gets a string representation of the current ActiveObject's state.
          * @Returns string of the current state.
          * @Author Marco Barbosa + Nelson Ramos
          */
          std::string getStateString();
          
          /**
           * @Description Helper function that translates a given ActiveObjectState to a string.
           * @Argument state The state for which a string representation is needed.
           * @Returns string of the given state.
           * @Author Marco Barbosa + Nelson Ramos
           */
          static std::string getStateString (ActiveObjectState state);
          
          
          /**
          * @Description This method starts the ActiveObject.
          * @Author Marco Barbosa + Nelson Ramos
          */
          virtual void start() = 0;
          
          /**
          * @Description This method stops the ActiveObject.
          * @Author Marco Barbosa + Nelson Ramos
          */
          virtual void stop() = 0;
          
          /**
          * @Description Getter for the communication gateway.
          * @Description This methd should only be used in the execution context of the ActiveObject
          * @Author Marco Barbosa
          */
          shared_ptr<CommunicationGateway> getCommunicationGateway();
          
          //mermaid internal stuff
          
          /**
          * @Description This method adds a task to be executed by the ActiveObject.
          * @Description It should only be called from OUTSIDE the context of an ActiveObject. Calling it in the context of an ActiveObject will block the ActiveObject.
          * @Author Marco Barbosa + Nelson Ramos
          */
          virtual void addTask (shared_ptr<Task> t);
          
          
        protected:
        
          /**
          * @Description Default constructor.
          * @Author Marco Barbosa + Nelson Ramos
          */
          ActiveObject (ActiveObjectManager * aom);
          
          /**
           * @Description Setter for the current state of the ActiveObject.
           * @Argument s State to which the ActiveObject should be set.
           * @Author Marco Barbosa + Nelson Ramos
           */
          void setState (ActiveObjectState s);
          
          //! Reference to the TaskScheduler used by this ActiveObject.
          shared_ptr<TaskScheduler> taskScheduler_;
          
          //! Reference to the ActiveObjectManager instance.
          ActiveObjectManager * aoManager_;
          
        private:
        
          shared_ptr<CommunicationGateway> commGateway_; //!Reference to the CommunicationGateway used by this ActiveObject.
          
          ActiveObjectState state_; //! Current ActiveObject's state.
          
      }; // ActiveObject
    } // namespace activeobject
  } // namespace support
} // namespace mermaid


#endif // __ACTIVEOBJECT_ACTIVEOBJECT_H