eventscheduler.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://!orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This distribution is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef HYDROICEUTIL_EVENT_SCHEDULER_H
#define HYDROICEUTIL_EVENT_SCHEDULER_H

#include <gbxutilacfr/tracer.h>
#include <gbxsickacfr/gbxiceutilacfr/thread.h>
#include <hydroiceutil/event.h>
#include <IceUtil/Time.h>
#include <IceUtil/Mutex.h>
#include <map>

namespace hydroiceutil {

class EventScheduler : public gbxiceutilacfr::Thread
{
public:
    struct Config
    {
        Config() :
            pollIntervalMs(500),
//             lateDispatchToleranceMs(-1),
            traceScheduledEvents(false),
            traceDispatchedEvents(false) {};

        void validate( gbxutilacfr::Tracer& tracer );

        int pollIntervalMs;
        // Issue warning when a scheduled event is dispatched more then @c lateDispatchToleranceMs [ms]
        // late. Default is -1 (no warnings);
//         int lateDispatchToleranceMs;
        bool traceScheduledEvents;
        bool traceDispatchedEvents;
    };

    EventScheduler( gbxutilacfr::Tracer& tracer, const EventScheduler::Config& config=EventScheduler::Config() );

    void scheduleEvent( EventReceiver& receiver, const EventPtr &event, double delay );

    void scheduleEvent( EventReceiver& receiver, int type, double delay );

    // from Thread
    virtual void run();

private:
    // storing absolute time of the scheduled events (so that we don't have to recompute them every time).
    // Allow duplicates with multimap in case 2 events happen to be scheduled for the same instant.
    struct EventItem
    {
        EventItem( EventReceiver& r, const EventPtr& e ) :
            receiver(r), event(e) {};
        EventReceiver& receiver;
        EventPtr event;
    };
    typedef std::multimap<IceUtil::Time,EventItem> TimeEventMap;
    TimeEventMap schedule_;
    IceUtil::Mutex scheduleMutex_;

    void dispatchEvents();
    
    gbxutilacfr::Tracer& tracer_;
    Config config_;
};
typedef IceUtil::Handle<EventScheduler> EventSchedulerPtr;

} // namespace

#endif