ExecutionEngine.hpp

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  ExecutionEngine.hpp

                        ExecutionEngine.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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#ifndef ORO_EXECUTION_ENGINE_HPP
#define ORO_EXECUTION_ENGINE_HPP

#include "os/Mutex.hpp"
#include "os/MutexLock.hpp"
#include "os/Condition.hpp"
#include "base/RunnableInterface.hpp"
#include "base/ActivityInterface.hpp"
#include "base/DisposableInterface.hpp"
#include "base/ExecutableInterface.hpp"
#include "internal/List.hpp"
#include <vector>
#include <boost/function.hpp>

#include "rtt-config.h"
#include "internal/rtt-internal-fwd.hpp"

namespace RTT
{

    class RTT_API ExecutionEngine
        : public base::RunnableInterface
    {
    public:
        ExecutionEngine( base::TaskCore* owner = 0);

        ~ExecutionEngine();

        base::TaskCore* getParent();

        virtual void addChild(base::TaskCore* tc);

        virtual void removeChild(base::TaskCore* tc);

        base::TaskCore* getTaskCore() const { return taskc; }

        virtual bool process(base::DisposableInterface* c);

        virtual bool runFunction(base::ExecutableInterface* f);

        virtual bool removeFunction(base::ExecutableInterface* f);

        virtual bool removeSelfFunction(base::ExecutableInterface* f);

        void waitForMessages(const boost::function<bool(void)>& pred);

        void waitForFunctions(const boost::function<bool(void)>& pred);

        bool stopTask(base::TaskCore* task);


        void setExceptionTask();
    protected:
        void waitForMessagesInternal( boost::function<bool(void)> const& pred);

        void waitAndProcessMessages(boost::function<bool(void)> const& pred);

        void waitAndProcessFunctions(boost::function<bool(void)> const& pred);

        base::TaskCore*     taskc;

        internal::MWSRQueue<base::DisposableInterface*>* mqueue;

        std::vector<base::TaskCore*> children;

        internal::MWSRQueue<base::ExecutableInterface*>* f_queue;

        os::Mutex msg_lock;
        os::Condition msg_cond;

        void processMessages();
        void processFunctions();
        void processChildren();

        virtual bool initialize();

        virtual void step();

        virtual bool breakLoop();

        virtual void finalize();

        virtual bool hasWork();

    };

}
#endif