Unit.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#ifndef _MIRA_UNIT_H_
#define _MIRA_UNIT_H_

#include <fw/MicroUnit.h>

namespace mira {


class MIRA_FRAMEWORK_EXPORT Unit : public MicroUnit
{
    MIRA_OBJECT(Unit)
public:

    Unit(Duration cycleTime, Flags flags = NORMAL) :
        MicroUnit(flags),
        mResetProcessTimer(true)
    {
        setCycleTime(cycleTime);
        setCycleTimeTolerance(cycleTime);
    }

    Unit(Duration cycleTime, Duration cycleTimeTolerance, Flags flags = NORMAL) :
        MicroUnit(flags),
        mResetProcessTimer(true)
    {
        setCycleTime(cycleTime);
        setCycleTimeTolerance(cycleTimeTolerance);
    }

    virtual ~Unit()
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, MicroUnit);
        r.property("CycleTime",
                   getter<Duration>(&Unit::getCycleTime, this),
                   setter<Duration>(&Unit::setCycleTime, this),
                   "The cycle time of our process", mCycleTime,
                   PropertyHints::limits<Duration>(Duration::milliseconds(0),
                                                   Duration::hours(1)) |
                   PropertyHints::step<Duration>(Duration::milliseconds(10)));
        r.property("CycleTimeTolerance",
                   getter<Duration>(&Unit::getCycleTimeTolerance, this),
                   setter<Duration>(&Unit::setCycleTimeTolerance, this),
                   "The maximum time about that we can exceed the cycle time "
                   "before issuing a warning", mCycleTimeTolerance,
                   PropertyHints::limits<Duration>(Duration::milliseconds(1),
                                                   Duration::hours(1)) |
                   PropertyHints::step<Duration>(Duration::milliseconds(10)));
    }

    virtual void checkin(const std::string& ns, const std::string& name);

public:

    void setCycleTime(Duration period);

    Duration getCycleTime() const;

    void setCycleTimeTolerance(Duration tolerance);

    Duration getCycleTimeTolerance() const;


    virtual void start();

    virtual void stop();


protected:

    virtual void process(const Timer& timer);

    virtual void needRecovery(const std::string& reason = "");

    virtual void operational();

private:

    void processIntern(const Timer& timer);

    Duration mCycleTime;
    Duration mCycleTimeTolerance;
    TimerPtr mProcessTimer;

    bool mResetProcessTimer;
};


}

MIRA_NO_PUBLIC_DEFAULT_CONSTRUCTOR(Unit)

#endif