libs/orcaice/subsystemthread.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_SUBSYSTEM_THREAD_H
#define ORCAICE_SUBSYSTEM_THREAD_H

#include <gbxsickacfr/gbxiceutilacfr/thread.h>
#include <gbxutilacfr/subhealth.h>
#include <gbxutilacfr/status.h>
#include <gbxutilacfr/tracer.h>

namespace orcaice {

class SubsystemThread : public gbxiceutilacfr::Thread
{
public: 
    SubsystemThread( gbxutilacfr::Tracer& tracer, 
                     gbxutilacfr::Status& status, 
                     const std::string& subsysName="SubsystemThread",
                     double maxHeartbeatIntervalSec=-1.0 );

    ~SubsystemThread();
   
    gbxutilacfr::Tracer& tracer() { return tracer_; };

    void setMaxHeartbeatInterval( double interval );

    void setSubsystemType( gbxutilacfr::SubsystemType type );

    std::string subsysName() const;

    gbxutilacfr::SubHealth& health() { return health_; };

    // from IceUtil::Thread
    // This implementation calls protectedRun(), catches all possible exceptions, prints out 
    // errors and waits for someone to call stop().
    virtual void run();

private:

    // implementation note: FSM actions are private so that the derived class
    // can re-implement them but cannot call them.

    virtual void initialise() {};
    
    virtual void work() {};

    virtual void finalise() {};

    // this private function is not virtual!
    // it's part of internal implementation.
    // implements the state machine.
    void protectedRun();

    gbxutilacfr::Tracer& tracer_;
    gbxutilacfr::Status& status_;
    gbxutilacfr::SubHealth health_;
};
typedef IceUtil::Handle<SubsystemThread> SubsystemThreadPtr;

}

#endif