application.h

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

#ifndef ORCAICE_APPLICATION_H
#define ORCAICE_APPLICATION_H

#include <Ice/Application.h>
#include <IceUtil/Mutex.h>

namespace orcaice
{

class Component;

class Application : public Ice::Application
{
public:

    Application( orcaice::Component &component, Ice::SignalPolicy policy=Ice::HandleSignals );

    //
    // Reimplements one of the main functions from Ice::Application
    //
    virtual int orcaMain(int, char*[]);

    //
    // Implements the run function from Ice::Application
    // Not part of OrcaIce public API.
    //
    virtual int run(int, char*[]);

    //
    // Called by Ice::Application when a signal is received
    //
    virtual void interruptCallback( int signal );

private:

    // By Orca convention there is exactly one adapter per component and, therefore, per application
    // Keep the pointer to it here, so it does not get destroyed too soon.
    Ice::ObjectAdapterPtr adapter_;

    // An application contains only one Component.
    orcaice::Component &component_;

    // Application may stop for 2 reasons: a) an interrupt signal or b) communicator destruction.
    // Those two events may happen in different threads. No matter which event happens we need to
    // to know whether we already stopped the component or not.
    void stopComponent();
    bool isComponentStopped_;
    IceUtil::Mutex mutex_;
};

} // namespace

#endif