periodictask.hpp

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#pragma once
/*
* Copyright (c) Aldebaran Robotics 2013 All Rights Reserved
*/
#ifndef _QI_PERIODICTASK_HPP_
#define _QI_PERIODICTASK_HPP_

#include <string>

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

#include <qi/atomic.hpp>
#include <qi/future.hpp>
#include <qi/stats.hpp>
#include <qi/trackable.hpp>

namespace qi
{
  struct PeriodicTaskPrivate;
  class QI_API PeriodicTask: public boost::noncopyable
  {
  public:
    typedef boost::function<void()> Callback;

    PeriodicTask();

    ~PeriodicTask();


    void setCallback(const Callback& cb);
#ifdef DOXYGEN
    template<typename T, typename ARG0> PeriodicTask& setCallback(const T& callable, ARG0 tracked, ...);
#else
    #define genCall(n, ATYPEDECL, ATYPES, ADECL, AUSE, comma) \
    template<typename AF, typename ARG0 comma ATYPEDECL>      \
    inline void setCallback(const AF& fun, const ARG0& arg0 comma ADECL)  \
    {                                                                    \
      setCallback(::qi::bind<void()>(fun, arg0 comma AUSE));             \
    }
    QI_GEN(genCall)
#undef genCall
#endif

    void setUsPeriod(qi::int64_t usPeriod);

    void start(bool immediate = true);

    void trigger();

    void stop();

    void asyncStop();

    void compensateCallbackTime(bool compensate);

    void setName(const std::string& name);

    bool isRunning() const;

    bool isStopping() const;
  private:
    boost::shared_ptr<PeriodicTaskPrivate> _p;
  };

}
#endif