xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
#ifndef CMVR_ES_TASK_MANAGER_H
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#define CMVR_ES_TASK_MANAGER_H
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#include <memory>
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#include <mutex>
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#include <string>
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#include <chrono>
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#include <thread>
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#include <unordered_map>
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#include <atomic>
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#include "task/task.h"
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#include "task/touch_screen_task/include/touch_screen_task.h"
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#include "cmvr/config/task_manager_config/task_manager_config.pb.h"
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namespace cmvr::task {
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class TaskManager {
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public:
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TaskManager(const TaskManager&) = delete;
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TaskManager& operator=(const TaskManager&) = delete;
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static TaskManager& getInstance(const config::TaskManagerConfig& cfg);
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static TaskManager& getInstance();
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static void destroyInstance();
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~TaskManager();
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bool startRunTask(double control_period_s = 0.001);
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void stopRunTask();
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bool running() const { return running_.load(); }
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bool initialized() const noexcept { return initialized_; }
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std::shared_ptr<Task> getTask(const std::string& task_id) const;
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std::shared_ptr<TouchScreenTask> getTouchScreenTask(const std::string& task_id = "touch_screen") const;
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private:
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explicit TaskManager(const config::TaskManagerConfig& cfg);
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void logTaskPlan() const;
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bool initTasks();
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void runTaskLoop(double control_period_s);
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static TaskRunMode toTaskRunMode(config::TaskConfigEntry::TaskRunMode run_mode);
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static std::mutex init_mutex_;
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static std::shared_ptr<TaskManager> instance_;
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config::TaskManagerConfig cfg_;
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std::unordered_map<std::string, std::shared_ptr<Task>> tasks_;
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std::unordered_map<std::string, double> task_period_s_;
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std::unordered_map<std::string, std::chrono::steady_clock::time_point> next_step_time_;
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mutable std::mutex tasks_mutex_;
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std::mutex lifecycle_mutex_;
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std::atomic<bool> running_{false};
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std::thread run_thread_;
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bool initialized_{false};
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};
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} // namespace cmvr::task
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#endif // CMVR_ES_TASK_MANAGER_H
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