UnitManager.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_UNITMANAGER_H_
#define _MIRA_UNITMANAGER_H_

#include <tuple>

#include <fw/MicroUnit.h>

namespace mira {


class MIRA_FRAMEWORK_EXPORT UnitManager
{
public:

    ~UnitManager();

    std::string addThreadGroup(const ResourceName& ns, const std::string& name);

    void addUnit(MicroUnitPtr unit, const std::string& ns,
                 const std::string& name, const std::string& threadGroup = "",
                 bool startAtInit=true);

    void removeUnit(const std::string& id);

    MicroUnitPtr getUnit(const std::string& id);

    void initializeUnits();

    void startUnits();

    void stopUnits(bool destruct=false);

protected:
    // each tuple contains 1. the shared pointer to the micro unit
    //                     2. the namespace of the unit as string
    //                     3. the name of the unit as string
    //                     4. the name of the thread group if any
    //                     5. flag if unit shall be started after initialization
    typedef std::tuple<MicroUnitPtr, std::string, std::string, std::string, bool> UnitEntry;
    typedef std::list<UnitEntry> UnitList;
    UnitList mUnits;
    std::map<std::string, boost::shared_ptr<Authority>> mThreadGroups;
    mutable boost::mutex mUnitsMutex;
};


}

#endif