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/home/pauldt/projects/IDEA/IDEA-ALL/IDEA-DEV/Core/ReactivePlanner/Includes/ReactivePlannerRunner.hh

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// -*- Mode: c++ -*-
//     File: $Source: /home/cvs/ISG-Repository/IDEA-DEV/Core/ReactivePlanner/Includes/ReactivePlannerRunner.hh,v $
//      Tag: $Name: DR_01_11_06 $
//      CVS: $Id: ReactivePlannerRunner.hh,v 1.3 2005/12/30 22:22:19 rijsman Exp $
//     Info: $CVSROOT/IDEA_DEV/COPYRIGHT

#ifndef _H_PLAN_RUNNER
#define _H_PLAN_RUNNER

#include "ThreadTools.hh" 

#include "TimeBasics.hh"
#include "Utilities.hh"

#include "TimeEventHandler.hh"

namespace IDEA 
{
  class AgentRelay;
  class AgentTimingService;
  class PslDatabase;
  class ReactivePlanner;

  class ReactivePlannerRunner:
    public ACE_Task_Base,
    public TimeEventHandler
  {
  public:       
    ReactivePlannerRunner( const AgentRelay* agentRelay, 
                           const AgentTimingService* timingService,
                           const PslDatabase* database );
    ~ReactivePlannerRunner();
    const ReactivePlanner* getReactivePlanner() const;
    bool isActive() const;
    void run(); 
    void stop();
  protected:
    void handleWakeupCall( const Time&  time );
    void handleRebootCall( const Time&  time );
  private:
    void handleReactivePlanningCycle();
    void activate();
    void deActivate();
    void scheduleNextWakeup() const;
    int svc(void);
    void sendMessages() const;
    ReactivePlannerRunner();
    ReactivePlannerRunner(const ReactivePlannerRunner &);
    ReactivePlannerRunner & operator=(const ReactivePlannerRunner &);

    typedef ACE_Thread_Mutex MutexLock;
    typedef ACE_Thread_Condition< MutexLock > ConditionVariable;

    bool m_Active;
    MutexLock m_Mutex;
    ConditionVariable* m_StartCondition;
    ReactivePlanner* m_ReactivePlanner;
    const PslDatabase* m_Database;
    const AgentTimingService* m_AgentTimingService;
    const AgentRelay* m_AgentRelay;
  }; 

} // namespace IDEA

#endif //#ifndef _H_PLAN_RUNNER

//  EOF

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