ThreadList.h

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/*
* 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    ArmarX::
* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <iosfwd>
#include <memory>
 
#include <IceUtil/Thread.h>
#include <IceUtil/Time.h>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/interface/core/ThreadingIceBase.h>
 
namespace armarx
{
 
    class ThreadList;
    using ThreadListPtr = IceInternal::Handle<ThreadList>;
 
    class ProcessWatcher;
 
    class ThreadList : virtual public ThreadListInterface, virtual public ManagedIceObject
    {
    public:
        ThreadList();
        ~ThreadList();
 
        Ice::StringSeq getRunningTaskNames(const Ice::Current& c = Ice::emptyCurrent) override;
        Ice::StringSeq getPeriodicTaskNames(const Ice::Current& c = Ice::emptyCurrent) override;
 
        double getCpuUsage(const Ice::Current& c = Ice::emptyCurrent) override;
 
        RunningTaskList getRunningTasks(const Ice::Current& c = Ice::emptyCurrent) override;
        PeriodicTaskList getPeriodicTasks(const Ice::Current& c = Ice::emptyCurrent) override;
 
        /**
         * @brief add RunningTask instance to this thread list
         * @param threadPtr pointer to the RunningTask instance to add
         */
        void addRunningTask(RunningTaskIceBase* threadPtr);
 
        /**
         * @brief remove RunningTask instance from this thread list
         * @param threadPtr pointer to the RunningTask instance to remove
         */
        bool removeRunningTask(RunningTaskIceBase* threadPtr);
 
        /**
         * @brief add PeriodicTask instance to this thread list
         * @param threadPtr pointer to the PeriodicTask instance to add
         */
        void addPeriodicTask(PeriodicTaskIceBase* threadPtr);
 
        /**
         * @brief remove PeriodicTask instance from this thread list
         * @param threadPtr pointer to the PeriodicTask instance to remove
         */
        bool removePeriodicTask(PeriodicTaskIceBase* threadPtr);
 
        /**
         * @brief getApplicationThreadList retrieves the ThreadList, that
         * contains all TimerTasks and PeriodicTasks in this Application.
         *
         * @return
         */
 
        static ThreadListPtr getApplicationThreadList();
        static int GetThreadJiffies(int threadId);
        static int GetHertz();
 
    protected:
        void setApplicationThreadListName(const std::string& threadListName);
        friend class ArmarXManager;
        //inherited from ManagedIceObject
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
 
        std::string
        getDefaultName() const override
        {
            return "ThreadList";
        }
 
        void updateCPUUsage();
 
    private:
        struct Impl;
        std::unique_ptr<Impl> impl;
    };
} // namespace armarx
 
namespace std
{
    ARMARXCORE_IMPORT_EXPORT ostream& operator<<(ostream& stream,
                                                 const armarx::RunningTaskIceBase& task);
}