Runnable.h

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/*
 * Copyright (C) 2014 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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 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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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_RUNNABLE_H_
#define _MIRA_RUNNABLE_H_

#ifndef Q_MOC_RUN
#include <boost/enable_shared_from_this.hpp>
#endif

#include <error/LoggingAux.h>
#include <fw/Status.h>

namespace mira {


//fwd decls.
class IRunnable;
class DispatcherThread;

typedef boost::shared_ptr<IRunnable> IRunnablePtr;

class IRunnable : public boost::enable_shared_from_this<IRunnable>
{
public:

    virtual ~IRunnable() {}

protected:
    friend class DispatcherThread;

    virtual void run(DispatcherThread* dispatcher) = 0;

};


class DiagnosticRunnable : public IRunnable
{
public:

    DiagnosticRunnable(DiagnosticsModulePtr module = NULL) :
        mDiagnosticsModule(module) {}

    void setDiagnosticsModule(DiagnosticsModulePtr module) {
        mDiagnosticsModule = module;
    }
    DiagnosticsModulePtr getDiagnosticsModule() { return mDiagnosticsModule; }

protected:

    DiagnosticsModulePtr mDiagnosticsModule;
};
typedef boost::shared_ptr<DiagnosticRunnable> DiagnosticRunnablePtr;


template <typename F>
class FunctionRunnable : public DiagnosticRunnable
{
public:
    FunctionRunnable(F&& fn, DiagnosticsModulePtr module = NULL) :
        DiagnosticRunnable(module), function(fn) {}

    virtual void run(DispatcherThread* dispatcher) {

        try {
            function();
        }
        catch(Exception& ex) {
            if (!mDiagnosticsModule ||
                mDiagnosticsModule->error("Runnable", ex.message(),
                                         "Exception while invoking Runnable")) {
                MIRA_LOG_EXCEPTION(ERROR,ex) << "Exception:\n";
            }
        }
        catch(std::exception& ex) {
            if (!mDiagnosticsModule ||
                mDiagnosticsModule->error("Runnable", ex.what(),
                                         "Exception while invoking Runnable")) {
                MIRA_LOG_EXCEPTION(ERROR,ex) << "Exception:\n";
            }
        }
    }

    F function;

};


} // namespace

#endif