componentthread.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAICE_COMPONENT_THREAD_H
00012 #define ORCAICE_COMPONENT_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/safethread.h>
00015 #include <orcaice/context.h>
00016 
00017 namespace orcaice {
00018 namespace detail {
00019 
00020 //
00021 // This thread is started by the component, and is used:
00022 // - to repeatedly try to register the Home interface, if the first attempt failed.
00023 // - to check on component Status.
00024 //
00025 // @author Alex Brooks
00026 //
00027 class ComponentThread : public gbxiceutilacfr::SafeThread
00028 {
00029 
00030 public: 
00031 
00032     ComponentThread( const orcaice::Context& context );
00033 
00034 private: 
00035 
00036     virtual void walk();
00037 
00038     // Returns: true = success
00039     bool tryRegisterHome();
00040 
00041     orcaice::Context        context_;
00042 };
00043 
00044 }
00045 }
00046 
00047 #endif