TaskScheduler.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 TaskScheduler.hpp
 * @Description TaskScheduler declaration
 * @Status Work in Progress
 * @Version $Id: TaskScheduler.hpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer nmsra (nmsra@mega.ist.utl.pt)
 */

#ifndef __ACTIVEOBJECT_TASKSCHEDULER_H
#define __ACTIVEOBJECT_TASKSCHEDULER_H

#include "Task.hpp"
#include "TaskSchedulerPolicy.hpp"

#include <queue>



namespace mermaid
{
  namespace support
  {
    namespace activeobject
    {
    
      using boost::shared_ptr;
      
      /**
      * @Typedef typedef priority_queue<Task*, vector<Task*>, TaskSchedulerPolicy> SchedulingQueue
      * @Description SchedulingQueue type.
      * @Author Marco Barbosa + Nelson Ramos
      */
      typedef std::priority_queue<shared_ptr<Task>, std::vector<shared_ptr<Task> >, TaskSchedulerPolicy> SchedulingQueue;
      
      /**
      * @Class TaskScheduler TaskScheduler.hpp "TaskScheduler.hpp"
      * @Description TaskScheduler class
      * @Author Marco Barbosa + Nelson Ramos
      */
      class TaskScheduler
      {
        public:
          /**
          * @Description Default constructor
          * @Author Marco Barbosa + Nelson Ramos
          */
          TaskScheduler();
          
          /**
          * @Description Adds a Task to the TaskScheduler.
          * @Param t Task to be added to TaskScheduler
          * @Author Marco Barbosa + Nelson Ramos
          */
          void addTask (shared_ptr<Task> t);
          
          /**
          * @Description Getter for the next scheduled Task.
          * @Returns Task that should be run next according to the current scheduling policy of the TaskScheduler os invalid pointer if no task is available
          * @Author Marco Barbosa + Nelson Ramos
          */
          shared_ptr<Task> getNextTask();
          
          /**
          * @Description Peaker for the next scheduled Task. Returns the next task but doesn't remove it from the scheduler
          * @Returns Task that should be run next according to the current scheduling policy of the TaskScheduler or invalid pointer if no task is available
          * @Author Marco Barbosa + Nelson Ramos
          */
          shared_ptr<Task> peakNextTask();
          
          /**
          * @Description Policy setter. Sets the policy that should be used by the TaskScheduler
          * p Policy that TaskScheduler should use.
          * @Author Marco Barbosa + Nelson Ramos
          */
          //        void setSchedulerPolicy(TaskSchedulerPolicy p);
          
        private:
          shared_ptr<SchedulingQueue> sq_;
          TaskSchedulerPolicy policy_;
      };
    } // namespace activeobject
  } // namespace support
} // namespace mermaid


#endif // __ACTIVEOBJECT_TASKSCHEDULER_H