hardware_resource_manager.h
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #ifndef HARDWARE_INTERFACE_HARDWARE_RESOURCE_MANAGER_H
00031 #define HARDWARE_INTERFACE_HARDWARE_RESOURCE_MANAGER_H
00032 
00033 #include <string>
00034 
00035 #include <hardware_interface/hardware_interface.h>
00036 #include <hardware_interface/internal/resource_manager.h>
00037 
00038 namespace hardware_interface
00039 {
00040 
00041 struct ClaimResources;
00042 struct DontClaimResources;
00043 
00078 template <class ResourceHandle, class ClaimPolicy = DontClaimResources>
00079 class HardwareResourceManager : public HardwareInterface, public ResourceManager<ResourceHandle>
00080 {
00081 public:
00082   typedef ResourceHandle ResourceHandleType;
00083 
00096   ResourceHandle getHandle(const std::string& name)
00097   {
00098     try
00099     {
00100       ResourceHandle out = this->ResourceManager<ResourceHandle>::getHandle(name);
00101 
00102       // If ClaimPolicy type is ClaimResources, the below method claims resources, for DontClaimResources it's a no-op
00103       ClaimPolicy::claim(this, name);
00104 
00105       return out;
00106     }
00107     catch(const std::logic_error& e)
00108     {
00109       throw HardwareInterfaceException(e.what());
00110     }
00111   }
00112 
00113   /*\}*/
00114 };
00115 
00117 struct ClaimResources
00118 {
00119   static void claim(HardwareInterface* hw, const std::string& name) {hw->claim(name);}
00120 };
00121 
00122 struct DontClaimResources
00123 {
00124   static void claim(HardwareInterface* /*hw*/, const std::string& /*name*/) {}
00125 };
00128 }
00129 
00130 #endif // HARDWARE_INTERFACE_HARDWARE_RESOURCE_MANAGER_H


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Thu Dec 1 2016 03:45:48