RunningTask.h

Go to the documentation of this file.

/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarXCore::core
* @author     Kai Welke (welke at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/interface/core/ThreadingIceBase.h>
#include <ArmarXCore/util/CPPUtility/GetTypeString.h>
 
#include <IceUtil/Thread.h>
 
#include <functional>
#include <memory>
 
namespace armarx
{
    class ThreadList;
    using ThreadListPtr = IceInternal::Handle<ThreadList>;
 
    class ARMARXCORE_IMPORT_EXPORT RunningTaskBase
        : virtual public IceUtil::Thread
        , virtual protected RunningTaskIceBase
    {
    public:
        using CallbackT = std::function<void()>;
 
        CallbackT callback;
 
        RunningTaskBase(std::string const& name);
 
        template <typename T>
        RunningTaskBase(T* parent, void (T::* runningFn)(), const std::string& name = "")
            : RunningTaskBase(name.empty() ? GetTypeString<T>() : name)
        {
            callback = [parent, runningFn]()
            {
                return (parent->*runningFn)();
            };
        }
 
        ~RunningTaskBase() override;
 
        void setName(const std::string& name);
 
        void setThreadList(ThreadListPtr threadList);
 
        void start();
 
        void stop(bool waitForJoin = true);
 
        void join();
 
        bool isRunning() const;
 
        bool isFinished() const;
 
        bool waitForFinished(int timeoutMS = -1);
 
        bool isStopped();
 
        void waitForStop();
 
        std::string getName() const;
 
    private:
        void run() override;
 
        struct Impl;
        std::unique_ptr<Impl> impl;
    };
 
    template <class T>
    class ARMARXCORE_IMPORT_EXPORT RunningTask
        : public RunningTaskBase
    {
    public:
        typedef void (T::*method_type)(void);
 
        using pointer_type = IceUtil::Handle<RunningTask<T> >;
 
        RunningTask(T* parent, method_type runningFn, const std::string& name = "")
            : RunningTaskBase(parent, runningFn, name)
        {
        }
    };
 
 
 
}