Task.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
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 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
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#ifndef _MIRA_TASK_H_
#define _MIRA_TASK_H_

#include <typeinfo>

#include <factory/Factory.h>
#include <serialization/adapters/boost/shared_ptr.hpp>
#include <serialization/adapters/std/list>

namespace mira { namespace navigation {


class SubTask : public Object
{
    MIRA_OBJECT(SubTask)
public:
    virtual ~SubTask() {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.itemName(this->getClass().getName());
    }
};

typedef boost::shared_ptr<SubTask> SubTaskPtr;


class Task
{
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("SubTasks", subTasks, "Sub tasks");
    }

public:
    void addSubTask(SubTaskPtr task)
    {
        subTasks.push_back(task);
    }

    template<class T>
    boost::shared_ptr<T> getSubTask(bool allowDerived=true)
    {
        foreach(auto task, subTasks)
        {
            auto r = boost::dynamic_pointer_cast<T>(task);
            if ( r != 0 && (allowDerived || typeid(*r) == typeid(T)))
                return r;
        }
        return boost::shared_ptr<T>();
    }


    template<class T>
    boost::shared_ptr<const T> getSubTask(bool allowDerived=true) const
    {
        foreach(auto task, subTasks)
        {
            auto r = boost::dynamic_pointer_cast<const T>(task);
            if ( r != 0 && (allowDerived || typeid(*r) == typeid(T)))
                return r;
        }
        return boost::shared_ptr<const T>();
    }

public:

    std::list<SubTaskPtr> subTasks;
};

typedef boost::shared_ptr<Task> TaskPtr;


}}

#endif