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

#ifndef __ACTIVEOBJECT_TASK_H
#define __ACTIVEOBJECT_TASK_H

#include <boost/shared_ptr.hpp>

#include <Time.hpp>

namespace mermaid
{
  namespace support
  {
    namespace activeobject
    {
      using boost::shared_ptr;
      using mermaid::support::system::Time;
      
      /**
      * @Class Task Task.hpp "Task.hpp"
      * @Description Task base class.
      * @Author Marco Barbosa + Nelson Ramos
      */
      class Task
      {
        public:
          /**
          * @Description Task constructor.
          * @Param scheduledTime Time at which Task should be executed
          * @Param repeatScheduling If true, the Task will be rescheduled after it has completed its execution.
          * @Param repeatFrequency Defines the frequency at which the Task should execute
          * @Author Marco Barbosa + Nelson Ramos
          */
          Task (Time scheduledTime = Time::getCurrentTime(), bool repeatScheduling = false, float repeatFrequency = 0.0);
          virtual ~Task();
          
          /**
          * @Description Method to run the Task.
          * @Author Marco Barbosa + Nelson Ramos
          * @TODO Make this a pure virtual method
          */
          virtual void run();
          
          /**
          * @Description Scheduled time getter.
          * @Returns Time that Task is scheduled to run
          * @Author Marco Barbosa + Nelson Ramos
          */
          Time getScheduledTime();
          
          bool hasRepeatScheduling();
          
          void incrementScheduledTimeForRepeat();
          
          void cancelRepeat();
          
          bool isOkToRun();
          
        private:
          bool okToRun_;
          bool repeatScheduling_;
          float repeatFrequency_;
          
          Time scheduledTime_;
      }; // Task
    } // namespace activeobject
  } // namespace support
} // namespace mermaid

#endif // __ACTIVEOBJECT_TASK_H