Task.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 __TASK_H_
#define __TASK_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdio.h>
#include <vector>

#include <baselib.h>
#include <Resource.h>
// #include <MobileRob.h>
#include <TaskDict.h>

using namespace MipResources;

namespace MipTasks{
 
 
 
 
 enum TaskOutputs {
  TASK_OUT_GO_ON,
 TASK_OUT_EXIT_NORMAL,
 TASK_OUT_EXIT_GENERIC_PROBLEM,
 TASK_OUT_NUM
 };
 
 static const char* TaskOutputsNames[TASK_OUT_NUM] = {
  "TASK_OUT_GO_ON",
 "TASK_OUT_EXIT_NORMAL",
 "TASK_OUT_EXIT_GENERIC_PROBLEM"
 };
 
 
 
 class Task : public MIPObject{
 
  public:
 
   Timer lastRunTimer; 
   
   Task(){
 
   }
   
   virtual TaskPlate getPlate() const=0;
   
   virtual string getName() const {
    assert(getPlate()<TASK_NUM);
    return TaskNames[getPlate()];
   }

   virtual string getObjectName() const {
    return "Task";
   }

   string print(){
    stringstream s;
    s << "Task Card: [plate="  << getPlate() << ", name=" << getName() << "]";
    return s.str();
   }
   virtual Time getMaxDuration()=0;
   virtual Time getMaxSamplPeriod()=0;
   virtual Time getMinSamplPeriod()=0;
   virtual TaskOutputs run(void)=0;
   
   
   void fatalResourceNotPresent(uint resourcePlate){
    if(resourcePlate < RESOURCE_NUM){
     stringstream ss;
     ss << "A Resource of " << ResourceNames[resourcePlate] << " Type is Not Present.";
     fatal(ss.str());
    }else{
     fatal("Wrong resource plate");
    }
   }
   
   
   void warningResourceNotPresent(uint resourcePlate){
    if(resourcePlate < RESOURCE_NUM){
     stringstream ss;
     ss << "A Resource of " << ResourceNames[resourcePlate] << " Type is Not Present.";
     warning(ss.str());
    }else{
     warning("Wrong resource plate");
    }
   }
   
 };
 
 
 typedef vector<Task*> TasksPointers;
 
 
 typedef vector<Task**> TasksPPointers;
 
 
 class TaskUtilities {
  private:
 
  public:
   
   static void getPlatesFromFile(string fileName,TaskPlates& plates){
    File file(fileName);
    vector<string> words;
    file.allWords(words);
    getPlatesFromWords(words,plates);
   }
   
   static void getPlatesFromWords(vector<string>& words,TaskPlates& plates){
    plates.clear();
    unsigned int wordsNum = words.size();
    for(unsigned int i=0; i<wordsNum;i++){
     for(unsigned int plateNum=0;plateNum<TASK_NUM;plateNum++){
      string taskName(TaskNames[plateNum]);
      if(words[i] == taskName){
       TaskPlate plate = (TaskPlate) plateNum;
       plates.push_back(plate);
       continue;
      }
     }
    }
   }
   
   static void getPluginsFromFile(string fileName, vector<string>& names, vector<string>& libraries){
    names.clear();
    libraries.clear();
    File file(fileName);
    vector<string> words;
    file.allWords(words);
    getPluginsFromWords(words,names,libraries);
   }
   
   static void getPluginsFromWords(vector<string>& words, vector<string>& names, vector<string>& libraries){
    
    string fileName = getenv("MIP_ROOT");
    if(fileName.empty())
     fileName = "../../PluginExample/PluginList.txt";
    else
     fileName+= "/PluginExample/PluginList.txt";
     
    File pluginListFile(fileName);
    vector<string> pluginList;
    pluginListFile.allWords(pluginList);
    
    string plTskName("PluginTask:");
    unsigned int wordsNum = words.size();
    for(unsigned int i=0; i<wordsNum;i++){
     if (words[i].length()>11){
      string wordBeginning(words[i].substr(0, 11));
      if (wordBeginning == plTskName){
       bool libraryFound = false;
       int ddotsPos = words[i].find_first_of(':', 11);
       string libraryName(words[i].substr(11,ddotsPos-11));
       string library;
       unsigned int pluginListSize = pluginList.size();
       for(unsigned int j=0; j<pluginListSize; ++j){
        if (pluginList[j].npos > pluginList[j].rfind(libraryName)){
         libraryFound = true;
         stringstream ssLib;
         library = pluginList[j].substr(0, pluginList[j].size()-21);
         ssLib << library << "lib/lib" << libraryName << ".so";
         library = ssLib.str();
         break;
        }
       }
       if (!libraryFound){
        stringstream ssFail;
        ssFail << "Impossible to find MIP-Plugin " << libraryName << " library in the PluginExample/PluginList.txt. Please execute MIPProfilePlugins. ";
        ssFail << "If the error persists, you may have changed the name of your plugin folder, withouth changing the project name, or viceversa. ";
        ssFail << "Also check that the build directory of your plugin contains a MIPPluginManifest.MIP empty file.";
        LogTrace::fatal(ssFail.str());
       }
       string name(words[i].substr(ddotsPos+1));
       names.push_back(name);
       libraries.push_back(library);
      }
     }
    }
   }
 };
 
 
// the types of the class factories
 typedef Task* create_task(ResourcePointers resources,int argc, const char* argv[]);
 
 typedef void destroy_task(Task*);
 
};// end namespace MipTasks

#endif