AuthorityManager.h

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/*
 * 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:
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 *   accordance with the commercial license agreement provided with the
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 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_AUTHORITYMANAGER_H_
#define _MIRA_AUTHORITYMANAGER_H_

#include <map>

#include <fw/Authority.h>

namespace mira {


class SharedAuthority
{
private:
    struct Shared
    {
        Shared(AbstractAuthority* iAuthority, boost::shared_mutex& mutex) :
            authority(iAuthority),
            mLock(mutex) {}

        ~Shared() {
            mLock.unlock();
        }

        AbstractAuthority* authority;
    private:
        boost::shared_lock<boost::shared_mutex> mLock;
    };

public:

    SharedAuthority(AbstractAuthority* iAuthority, boost::shared_mutex& mutex) :
        mShared(new Shared(iAuthority, mutex)) {}

    operator AbstractAuthority*() { return mShared->authority; }

    AbstractAuthority* authority() { return mShared->authority; }

private:

    boost::shared_ptr<Shared> mShared;

};

struct PropertyQueryResult
{
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Value", value, "The property value (if query succeeded)");
        r.member("SerializedException", exception,
                 "Buffer containing the serialized exception (or empty)");
        r.member("ErrorMessage", message,
                 "The error message from the exception (or empty)");
    }

    json::Value value;         // main: the json-serialized property value (if no exception)
    Buffer<uint8> exception;   // binary-serialized exception
    std::string message;       // exception message
};

class MIRA_FRAMEWORK_EXPORT AuthorityManager
{
public:

    AuthorityManager();

    ~AuthorityManager();

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.interface("IAuthorityManager");
        r.method("hasAuthority", &AuthorityManager::hasAuthority, this,
                 "Returns if an authority with the given global id exists.",
                 "id", "authority id", "/MyAuthority");
        r.method("isLocal", &AuthorityManager::isLocal, this,
                 "Returns true if authority with given id is a local one "
                 "(The instance lives in this framework/process).",
                 "id", "authority id", "/MyAuthority");
        r.method("getAuthorities", &AuthorityManager::getAuthorities, this,
                 "Returns a list of existing authorities.");
    }

public:

    void addAuthority(AbstractAuthority* authority);

    void removeAuthority(AbstractAuthority* authority);

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

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

    bool hasAuthority(const std::string& id) const;

    bool isRunning(const std::string& id) const;

    bool isLocal(const std::string& id) const;

    bool hasUnrecoverableFailure(const std::string& id) const;

    StatusManager::StatusMap getStatusMap(const std::string& id) const;
    AuthorityDescription getDescription(const std::string& id) const;

    std::set<std::string> getPublishedChannels(const std::string& id) const;
    std::set<std::string> getSubscribedChannels(const std::string& id) const;

    boost::shared_ptr<PropertyNode> getProperties(const std::string& id) const;

    std::set<std::string> getAuthorities() const;

    SharedAuthority getAuthority(const std::string& id);

private:

    struct LockableAuthority
    {
        LockableAuthority(AbstractAuthority* a) : authority(a) {}

        AbstractAuthority* authority; 
        boost::shared_mutex mutex; 
    };
    typedef boost::shared_ptr<LockableAuthority> LockableAuthorityPtr;
    typedef std::map<std::string, LockableAuthorityPtr> AuthorityMap;

    AuthorityMap mAuthorities;

    mutable boost::mutex mAuthoritiesMutex;

private:

    LockableAuthorityPtr findAuthority(const std::string& id) const;

private:

    // authority of the AuthorityManager (must be last member!!)
    Authority mAuthority;
};


}

#endif