EmergencyLock.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------








#ifndef __EMER_LOCK_TASK_H_
#define __EMER_LOCK_TASK_H_

#include <Task.h>
#include <Resource.h>
#include <MobileRob.h>
#include <SharedMem.h>


using namespace MipResources;


namespace MipTasks{
 
 /* @{ */
 
 
 class EmergencyLockSharedMem : public SharedMem{
  public:
   void initSharedMem(){
   }
   
   bool emergencyLock(){
    return _emergencyLock;
   }
   void setEmergencyLock(){
    _emergencyLock = true;
   }
   void unsetEmergencyLock(){
    _emergencyLock = false;
   }
 };
 
 
 class EmergencyLock : public Task{
  private:
   static const TaskPlate _plate = EML_TASK;
   static const long int  _maxDurSec  = 0,      _maxDurUsec = 5000;
   static const long int  _maxSamplPeriodSec = 0, _maxSamplPeriodUsec = 30000;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 10000;
   
   MobileRob*  _mobileRob;
   
   EmergencyLockSharedMem* _sharedMem;
   
 //   bool locked;
   
  public:
   EmergencyLock(ResourcePointers resources,int argc, const char* argv[]){
    
    _mobileRob = (MobileRob*) ResourceUtilities::macroResFromPlate(resources,MR_INIT,MR_END);
    if(_mobileRob == 0){
     fatalResourceNotPresent(MR_INIT);
    }
    
    // richiedi una risorsa di tipo SharedMem
    _sharedMem = (EmergencyLockSharedMem*) ResourceUtilities::resFromPlate(resources,SHMEM_RES);
    if(_sharedMem == 0){
     fatalResourceNotPresent(SHMEM_RES);
    }
    _sharedMem->initSharedMem();
    
 //    locked = false;
   }
   ~EmergencyLock(){
    cout << "destr FeatExtrTask" << endl;
   }
   TaskPlate getPlate() const {
    return _plate;
   }  
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   TaskOutputs run();
   
 };
 
 /* @} */
 
};// end namespace MipTasks

#endif