include/barrett/systems/real_time_execution_manager.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett 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 version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * real_time_execution_manager.h
 *
 *  Created on: Dec 10, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_REAL_TIME_EXECUTION_MANAGER_H_
#define BARRETT_SYSTEMS_REAL_TIME_EXECUTION_MANAGER_H_


#include <string>

#include <boost/function.hpp>
#include <boost/thread.hpp>

#include <libconfig.h++>

#include <barrett/detail/ca_macro.h>
#include <barrett/systems/abstract/execution_manager.h>


namespace barrett {
namespace systems {


class RealTimeExecutionManager : public ExecutionManager {
public:
        typedef boost::function<void (RealTimeExecutionManager*, const ExecutionManagerException&)> callback_type;

        explicit RealTimeExecutionManager(double period_s, int rt_priority = 50);
        explicit RealTimeExecutionManager(const libconfig::Setting& setting);  //TODO(dc): test!
        virtual ~RealTimeExecutionManager();

        void start();
        bool isRunning() const { return running; }
        void stop();

        bool getError() const { return error; }
        const std::string& getErrorStr() const { return errorStr; }
        void clearError();

        void setErrorCallback(callback_type callback);
        void clearErrorCallback();

protected:
        boost::thread thread;
        int priority;
        bool running;

        bool error;
        std::string errorStr;
        callback_type errorCallback;

        void executionLoopEntryPoint();

private:
        void init();

        DISALLOW_COPY_AND_ASSIGN(RealTimeExecutionManager);
};


}
}


#endif /* BARRETT_SYSTEMS_REAL_TIME_EXECUTION_MANAGER_H_ */