MIRA
Runnable.h
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38 
47 #ifndef _MIRA_RUNNABLE_H_
48 #define _MIRA_RUNNABLE_H_
49 
50 #ifndef Q_MOC_RUN
51 #include <boost/enable_shared_from_this.hpp>
52 #endif
53 
54 #include <error/LoggingAux.h>
55 #include <fw/Status.h>
56 
57 namespace mira {
58 
60 
61 //fwd decls.
62 class IRunnable;
64 
66 typedef boost::shared_ptr<IRunnable> IRunnablePtr;
67 
72 class IRunnable : public boost::enable_shared_from_this<IRunnable>
73 {
74 public:
75 
76  virtual ~IRunnable() {}
77 
78 protected:
79  friend class DispatcherThread;
80 
85  virtual void run(DispatcherThread* dispatcher) = 0;
86 
87 };
88 
90 
92 {
93 public:
94 
96  mDiagnosticsModule(module) {}
97 
99  mDiagnosticsModule = module;
100  }
102 
103 protected:
104 
106 };
107 typedef boost::shared_ptr<DiagnosticRunnable> DiagnosticRunnablePtr;
108 
110 
114 template <typename F>
116 {
117 public:
118  FunctionRunnable(F&& fn, DiagnosticsModulePtr module = NULL) :
119  DiagnosticRunnable(module), function(fn) {}
120 
121  virtual void run(DispatcherThread* dispatcher) {
122 
123  try {
124  function();
125  }
126  catch(Exception& ex) {
127  if (!mDiagnosticsModule ||
128  mDiagnosticsModule->error("Runnable", ex.message(),
129  "Exception while invoking Runnable")) {
130  MIRA_LOG_EXCEPTION(ERROR,ex) << "Exception:\n";
131  }
132  }
133  catch(std::exception& ex) {
134  if (!mDiagnosticsModule ||
135  mDiagnosticsModule->error("Runnable", ex.what(),
136  "Exception while invoking Runnable")) {
137  MIRA_LOG_EXCEPTION(ERROR,ex) << "Exception:\n";
138  }
139  }
140  }
141 
142  F function;
143 
144 };
145 
147 
148 } // namespace
149 
150 #endif
F function
Definition: Runnable.h:142
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
Runnable that wraps any function pointer.
Definition: Runnable.h:115
virtual ~IRunnable()
Definition: Runnable.h:76
DiagnosticRunnable(DiagnosticsModulePtr module=NULL)
Definition: Runnable.h:95
Base for all runnable classes that can be signaled when they need to run again.
Definition: Runnable.h:72
Auxiliary logging macros for special entities like exceptions, etc.
virtual void run(DispatcherThread *dispatcher)
Called from dispatcher thread this runnable is attached to, whenever the runnable should be executed...
Definition: Runnable.h:121
std::string message() const MIRA_NOEXCEPT_OR_NOTHROW
Similar to what().
virtual void run(DispatcherThread *dispatcher)=0
Called from dispatcher thread this runnable is attached to, whenever the runnable should be executed...
void setDiagnosticsModule(DiagnosticsModulePtr module)
Definition: Runnable.h:98
boost::shared_ptr< DiagnosticRunnable > DiagnosticRunnablePtr
Definition: Runnable.h:107
DiagnosticsModulePtr mDiagnosticsModule
Definition: Runnable.h:105
Definition: Runnable.h:91
boost::shared_ptr< IRunnable > IRunnablePtr
a runnable pointer
Definition: Runnable.h:63
Base class for exceptions.
Definition: Exception.h:194
Class that can be used whenever you want to have ONE thread where several handlers are assigned to...
Definition: DispatcherThread.h:131
FunctionRunnable(F &&fn, DiagnosticsModulePtr module=NULL)
Definition: Runnable.h:118
#define MIRA_LOG_EXCEPTION(level, ex)
Log the specified exception, including all information that the exception object carries.
Definition: LoggingAux.h:107
bool error(const std::string &category, const std::string &message, const std::string &trText="")
Signal an error in a category.
DiagnosticsModulePtr getDiagnosticsModule()
Definition: Runnable.h:101
Definition: LoggingCore.h:74
Base class for modules that want to use diagnostics and set the current status.
Definition: Status.h:138
Status and status management classes used for diagnostics.