Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2007 Alexei Makarenko
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 MAIN_THREAD_H
00012 #define MAIN_THREAD_H
00013 
00014 #include <string>
00015 #include <memory>
00016 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00017 #include <orcaice/context.h>
00018 
00019 #include <hydrodll/dll.h>
00020 #include "interfacetypecounter.h"
00021 
00022 namespace orcalog
00023 {
00024     class MasterFileReader;
00025     class Replayer;
00026     class ReplayerFactory;
00027 }
00028 
00029 namespace logplayer
00030 {
00031 
00032 class MainThread: public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00033 {       
00034 public:
00035     MainThread( const orcaice::Context& context );
00036     ~MainThread();
00037 
00038     // from SubsystemThread
00039     virtual void walk();
00040 
00041 private:
00042 
00043     // utilities
00044     void loadPluginLibraries( const std::string& factoryLibNames );
00045     void createReplayer( const std::string & interfaceType, 
00046                          const std::string& format,
00047                          const std::string& filename,
00048                          bool               enabled,
00049                          bool               require );
00050 
00051     void readReplayParams( IceUtil::Time &beginTime, double &replayRate, bool &autoStart );
00052 
00053     gbxsickacfr::gbxiceutilacfr::ThreadPtr       replayConductor_;
00054     gbxsickacfr::gbxiceutilacfr::ThreadPtr       highLevelController_;
00055 
00056     std::auto_ptr<orcalog::MasterFileReader> masterFileReader_;
00057 
00058     std::vector<orcalog::ReplayerFactory*>           replayerFactories_;
00059     std::vector<hydrodll::DynamicallyLoadedLibrary*> libraries_;
00060 
00061     std::vector<orcalog::Replayer*> replayers_;
00062 
00063     // Ensure interfaces of a given type are unique.
00064     InterfaceTypeCounter interfaceTypeCounter_;
00065     
00066     orcaice::Context context_;
00067 };
00068 
00069 } // namespace
00070 
00071 #endif
utils/logplayer/mainthread.h
