AbstractAuthority.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_ABSTRACTAUTHORITY_H_
#define _MIRA_ABSTRACTAUTHORITY_H_

#include <set>

#ifndef Q_MOC_RUN
#include <boost/noncopyable.hpp>
#endif

#include <fw/AuthorityDescription.h>
#include <fw/Status.h>

namespace mira {


// forward declaration
class PropertyNode;
// forward declaration
class MIRA_FRAMEWORK_EXPORT StatusManager;


class MIRA_FRAMEWORK_EXPORT AbstractAuthority : boost::noncopyable
{
public:

    virtual ~AbstractAuthority() {}


    std::string getNamespace() const {
        return mDescription.ns;
    }

    std::string getGlobalName() const {
        return mDescription.getGlobalName();
    }

    std::string getGlobalID() const {
        return mDescription.getGlobalID();
    }

    std::string getID() const {
        return mDescription.id;
    }

    std::string getName() const {
        return mDescription.name;
    }

    const AuthorityDescription& getDescription() const { return mDescription; }


public:
    typedef std::multimap<std::string, std::string> ChannelNameMapping;

    typedef std::map<std::string, Status> ChannelStatusMap;

    virtual StatusManager::StatusMap getStatusMap() = 0;

    virtual boost::shared_ptr<PropertyNode> getProperties() = 0;

    virtual std::set<std::string> getPublishedChannels() = 0;

    virtual std::set<std::string> getSubscribedChannels() = 0;

    virtual std::set<std::string> getServiceInterfaces() = 0;

    virtual ChannelNameMapping getPublishedChannelNames() = 0;

    virtual ChannelNameMapping getSubscribedChannelNames() = 0;

    virtual ChannelStatusMap getSubscribedChannelStatus() = 0;

public:

    virtual void start() = 0;

    virtual void stop() = 0;

    virtual bool hasUnrecoverableFailure() const = 0;

    virtual bool isStarted() const = 0;

    virtual bool isRunning() const = 0;

protected:

    AuthorityDescription mDescription;
};


}

#endif