componentthread.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 #include <orcaice/component.h> // for ComponentAdapterActivationPolicy
00017 
00018 namespace orcaice {
00019 namespace detail {
00020 
00021 //
00022 // This thread is started by the component, and is used:
00023 // - to repeatedly try to register the Home interface, if the first attempt failed.
00024 // - to check on component Status.
00025 //
00026 // @author Alex Brooks
00027 //
00028 class ComponentThread : public gbxiceutilacfr::SafeThread
00029 {
00030 
00031 public: 
00032 
00033     ComponentThread( ComponentAdapterActivationPolicy adapterPolicy,
00034                      const orcaice::Context& context );
00035 
00036 private: 
00037 
00038     virtual void walk();
00039 
00040     // Returns: true = success
00041     bool tryRegisterHome();
00042 
00043     ComponentAdapterActivationPolicy adapterPolicy_;
00044     orcaice::Context context_;
00045 };
00046 
00047 }
00048 }
00049 
00050 #endif