libs/orcaice/component.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2008 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_COMPONENT_H
#define ORCAICE_COMPONENT_H

#include <memory>
#include <orcaice/context.h>
#include <hydroutil/uncopyable.h>
#include <gbxsickacfr/gbxiceutilacfr/thread.h>

namespace orcaice
{

namespace detail
{
    class HomeImpl;
    class StatusImpl;
    class TracerImpl;
}

enum ComponentInterfaceFlag {
    NoStandardInterfaces    = 0x000,
    HomeInterface           = 0x001,
    StatusInterface         = 0x010,
    TracerInterface         = 0x100,
    AllStandardInterfaces   = HomeInterface | StatusInterface | TracerInterface
};

class Component : public hydroutil::Uncopyable
{
// these are declared friends so they can call init(), tag(), finalise()
friend class Application;
friend class Service;

public:
    Component( const std::string& tag, ComponentInterfaceFlag flag=AllStandardInterfaces );
    virtual ~Component();

    virtual void start()=0;

    virtual void stop() {};

    virtual const std::string help( const std::string& executable ) const;



    virtual const std::string version() const { return std::string(""); };

protected:

    void activate() { context_.activate(); };

    const Context& context() const { return context_; };

private:

    // One of the container classes (Application or Service) will
    // call this function before calling start().
    // This is the reason for them to be friends.
    void init( const orca::FQComponentName& name,
               const bool isApp,
               const Ice::ObjectAdapterPtr& adapter );

    // Cleans up internal resources after stop() was called
    // but before complete shutdown.
    void finalise();

    // Only Service should need to use this when the IceBox tells it
    // what the actual tag is.
    void setTag( const std::string& t ) { context_.tag_ = t; };

    // Save init flags (for the period between the constructor and init())
    ComponentInterfaceFlag interfaceFlag_;

    std::auto_ptr<detail::HomeImpl> home_;
    std::auto_ptr<detail::StatusImpl> status_;
    std::auto_ptr<detail::TracerImpl> tracer_;
    std::auto_ptr<hydroutil::History> history_;

    // This thread allows us to do house-keeping stuff and manage Status.
    gbxiceutilacfr::ThreadPtr componentThread_;

    // Component's context
    Context context_;
};

} // end namespace

#endif