SCITOSModule.h

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/*
 * Copyright (C) 2012 MetraLabs GmbH (MLAB), GERMANY.
 * All rights reserved.
 * Contact: info@MetraLabs.com
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 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MetraLabs.
 *
 * GNU General Public License Usage:
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 *   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
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#ifndef _MIRA_SCITOSMODULE_H_
#define _MIRA_SCITOSMODULE_H_

#include <factory/Factory.h>
#include <xml/XMLDom.h>
#include <serialization/XMLSerializer.h>

#include <fw/Framework.h>

#include <SCITOSDefines.h>

namespace mira { namespace robot {


class MLAB_SCITOS_EXPORT SCITOSManager;


class MLAB_SCITOS_EXPORT SCITOSModule : public Object, public Authority
{
    MIRA_ABSTRACT_OBJECT(SCITOSModule)
public:

    SCITOSModule() :
        Authority(ANONYMOUS | HIDDEN),
        mIsRunning(false) {}

    virtual ~SCITOSModule() { stop(); }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.roproperty("Status", mNodeInfo.status, "The status of the module",
                     PropertyHints::enumeration("unknown;bootup;stopped;operational;pre-operational"));
    }

    void initialize(SCITOSManager* manager, mira::can::CANOpenNodeInfo nodeInfo,
                    XMLDom* xml);

    virtual std::string getName() const
    {
        return getClass().getMetaInfo("Name");
    }

    void updateStatus(mira::can::CANOpenNodeStatus status);
    virtual void statusChanged(mira::can::CANOpenNodeStatus status) {}

    void pauseModule();
    void resumeModule();
    void destructModule();

protected:

    void processInitialization();
    void onError(const mira::can::CANMessage& message, const Time& time);

    template <typename T>
    void deserializeConfig(T& module, bool isOptional = true)
    {
        deserializeConfig(getName(), module, isOptional);
    }

    template <typename T>
    void deserializeConfig(const std::string& name, T& module, bool isOptional = true)
    {
        if (mXML->root().find(name) == mXML->root().end()) {
            if (isOptional) {
                MIRA_LOG(WARNING) << "SCITOSManager: No configuration for module '" << name << "', running with defaults";
                return;
            } else
                MIRA_THROW(XInvalidConfig, "SCITOSManager: No configuration for module '" << name << "', which is required";)
        }

        XMLDeserializer s(*mXML);
        s.deserialize(name, module);
    }

    virtual void onInitialize() = 0; // must be implemented for each module!
    virtual void onPause() {}
    virtual void onResume() {}
    virtual void onDestruct() {}

    uint32 addPDOListener(can::PDOCallback pFunc, uint32 pPDO);

    void waitForHWTimestamp();

    std::set<uint32> mErrors;

    std::vector<uint32> mPDOCallbacks;
    XMLDom* mXML;
    SCITOSManager* mManager;              
    mira::can::CANOpenNodeInfo mNodeInfo; 
    boost::thread mInitializationThread;
    bool mIsRunning;
};

typedef boost::shared_ptr<SCITOSModule> SCITOSModulePtr;


}}

#endif