PeriodicBeat.h

Go to the documentation of this file.

/* ============================================================
 *
 * This file is a part of CCA project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <boost/shared_ptr.hpp>

#include <rsc/logging/LoggerFactory.h>
#include <rsc/threading/PeriodicTask.h>
#include <rsc/misc/langutils.h>

#include "cca/Node.h"
#include "cca/Beat.h"

namespace cca {

class PeriodicBeat;
typedef ::boost::shared_ptr<PeriodicBeat> PeriodicBeatPtr;

class PeriodicBeat: public Beat, public rsc::threading::PeriodicTask {
public:
    PeriodicBeat(unsigned int milliseconds);
    ~PeriodicBeat();

    std::string print() const;

    void execute();

    unsigned int getCycleTime();


    virtual void run();
    virtual void cancel();
    virtual bool isCancelRequested();

    static PeriodicBeatPtr create(unsigned int milliseconds = 10);

    friend std::ostream
    & operator<<(std::ostream& os, const PeriodicBeat& beat);

protected:
    rsc::logging::LoggerPtr beatlogger;
};

}