ProgramProcessor.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Oct 10 16:19:04 CEST 2002  Processor.hpp

                        Processor.hpp -  description
                           -------------------
    begin                : Thu October 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 ***************************************************************************/

#ifndef PROGRAM_PROCESSOR_HPP
#define PROGRAM_PROCESSOR_HPP

#include "RunnableInterface.hpp"
#include "BufferPolicy.hpp"
#include "ListLockFree.hpp"
#include "ProgramExceptions.hpp"
#include "ProgramInterface.hpp"

#include <map>
#include <string>
#include <vector>

#include "rtt-config.h"

namespace RTT
{
    template< class T, class RP, class WP>
    class AtomicQueue;

}

namespace RTT
{
    class ProgramProcessor
        : public RunnableInterface
    {
    public:
        ProgramProcessor(int f_queue_size = ORONUM_EXECUTION_PROC_QUEUE_SIZE);

        virtual ~ProgramProcessor();

        typedef ProgramInterface::Status Status;

        bool loadProgram( ProgramInterfacePtr pi );

        bool deleteProgram(const std::string& name);

        bool unloadProgram(const std::string& name);

        void clear();

        Status::ProgramStatus getProgramStatus(const std::string& name) const;

        std::string getProgramStatusStr(const std::string& name) const;

        virtual bool initialize();
        virtual void step();
        virtual void finalize();

        virtual bool runFunction(ProgramInterface* f);

        virtual bool removeFunction(ProgramInterface* f);

        std::vector<std::string> getProgramList() const;

        const ProgramInterfacePtr getProgram(const std::string& name) const;

        ProgramInterfacePtr getProgram(const std::string& name);

    protected:
        typedef ListLockFree<ProgramInterfacePtr> ProgMap;
        ProgMap* programs;

        std::vector<ProgramInterface*> funcs;

        AtomicQueue<ProgramInterface*,NonBlockingPolicy,NonBlockingPolicy>* f_queue;

    };

}

#endif