Task.cpp

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


#include "config.h"

#include "Task.hpp"
#include <String.hpp>
#include <DataFactory.hpp>
#include <Exception.hpp>

#include <iostream>

using namespace mermaid::support::activeobject;
using mermaid::support::data::String;
using mermaid::support::data::DataFactory;
using mermaid::support::errorhandling::Exception;

Task::Task (Time scheduledTime, bool repeatScheduling, float repeatFrequency)
{
  //std::cerr << "Task::Task(this=" << this << " repeatScheduling=" << repeatScheduling << " repeatFrequency=" << repeatFrequency << ")" << std::endl;
  
  scheduledTime_ = scheduledTime;
  repeatScheduling_ = repeatScheduling;
  repeatFrequency_ = repeatFrequency;
  
  okToRun_ = true;
  
}; // Task()

Task::~Task()
{
  // do nothing
}; // ~Task();

void Task::run()
{
  std::cerr << "Task::run() : this=" << this << std::endl;
}; // run()

Time Task::getScheduledTime()
{
  return scheduledTime_;
}; // getScheduledTime

bool Task::hasRepeatScheduling()
{
  return repeatScheduling_;
};

void Task::incrementScheduledTimeForRepeat()
{
  float fsecs = 1.0 / repeatFrequency_;
  int secs = (int) fsecs;
  int usecs = (int) ( (fsecs - secs) * 1000000);
  
  //std::cerr << "Task::incrementScheduledTimeForRepeat : increment is: sec=" << secs << " usecs=" << usecs << std::endl;
  scheduledTime_ += Time (secs, usecs);
}; // incrementScheduledTimeForRepeat()

void Task::cancelRepeat()
{
  okToRun_ = false;
  repeatScheduling_ = false;
}; // cancelRepeat()

bool Task::isOkToRun()
{
  return okToRun_;
}; // isOkToRun()