ORBManager.h
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00001 // -*- C++ -*-
00019 #ifndef DOIL_ORB_MANAGER_H
00020 #define DOIL_ORB_MANAGER_H
00021 
00022 #include <string>
00023 #include <vector>
00024 #include <coil/Mutex.h>
00025 #include <doil/doil.h>
00026 #include <doil/ObjectManager.h>
00027 #include <doil/IORB.h>
00028 
00029 namespace doil
00030 {
00031   class ORBManager
00032   {
00033   public:
00041     static ORBManager* init(coil::Properties prop)
00042       throw();
00043     
00051     static ORBManager& instance()
00052       throw();
00053 
00069     virtual void shutdown() throw();
00070 
00085     ReturnCode_t addORB(IORB* orb) throw();
00086 
00102     IORB* getORB(const char* name) throw();
00103 
00119     const std::vector<IORB*> getORBs() throw();
00120 
00136     const std::vector<std::string> availableORBs() throw();
00137 
00158     IORB* deleteORB(const char* name) throw();
00159 
00160     //------------------------------------------------------------
00161 
00176     virtual ReturnCodes activateObject(ImplBase* impl,
00177                                          const char* orbname = "") throw();
00191     virtual ReturnCodes deactivateObject(ImplBase* impl,
00192                                            const char* orbname = "") throw();
00193 
00207     virtual ReturnCodes  deactivateObject(const char* name,
00208                                             const char* orbname = "") throw();
00209 
00228     ReturnCode_t deleteObject(ImplBase* impl) throw();
00229 
00248     ReturnCode_t deleteObject(const char* name) throw();
00249 
00263     const std::vector<ImplBase*> getObjects() throw();
00264 
00278     ImplBase* getObject(const char* name) throw();
00279 
00280   protected:
00281     //------------------------------------------------------------
00282     // private functions
00283     //------------------------------------------------------------
00284   private:
00285     ORBManager(){}
00286     ORBManager(const ORBManager&);
00287     ORBManager& operator=(const ORBManager&);
00288     ~ORBManager(){}
00289 
00290 
00291     //------------------------------------------------------------
00292     // private variables
00293     //------------------------------------------------------------
00294   private:
00295     // static data member for singleton
00296     static ORBManager* manager;
00297     static coil::Mutex mutex;
00298 
00299     //------------------------------------------------------------
00300     // ORB map
00301     //------------------------------------------------------------
00302     class ORBPred
00303     {
00304     public:
00305       ORBPred(const char* name)
00306         : m_name(name)
00307       {
00308       }
00309       ORBPred(IORB* orb)
00310         : m_name(orb->name())
00311       {
00312       }
00313       bool operator()(IORB* orb)
00314       {
00315         return m_name == orb->name();
00316       }
00317       std::string m_name;
00318     };
00319 
00320     typedef ObjectManager<const char*, IORB, ORBPred> ORBMap;
00321     ORBMap m_orbs;
00322     // end of ORBMap
00323     //------------------------------------------------------------
00324 
00325 
00326     //------------------------------------------------------------
00327     // impl object map
00328     //------------------------------------------------------------
00329     class ImplPred
00330     {
00331     public:
00332       ImplPred(const char* name)
00333         : m_name(name)
00334       {
00335       }
00336       ImplPred(ImplBase* impl)
00337         : m_name(impl->name())
00338       {
00339       }
00340       bool operator()(ImplBase* impl)
00341       {
00342         return m_name == impl->name();
00343       }
00344       std::string m_name;
00345     };
00346 
00347     typedef ObjectManager<const char*, ImplBase, ImplPred> ImplMap;
00348     ImplMap m_impls;
00349   
00350     //    std::vector<IORB*> m_orbs;
00351     //    std::vector<ImplBase*> m_impl;
00352     //    typedef std::vector<IORB*>::iterator OrbIt;
00353     //    typedef std::vector<ImplBase*>::iterator ImplIt;
00354 
00355 
00356     //------------------------------------------------------------
00357     // functors for IORB operation
00358     //------------------------------------------------------------
00359 
00360     //------------------------------------------------------------
00361     // shutdown ORBs
00362     class orb_shutdown
00363     {
00364     public:
00365       void operator()(IORB* orb)
00366       {
00367         orb->shutdown();
00368       }
00369     };
00370     //
00371 //    class find_orb
00372 //    {
00373 //    public:
00374 //      find_orb(const char* name) : m_name(name)
00375 //      {
00376 //      }
00377 //      bool operator()(IORB* orb)
00378 //      {
00379 //        return m_name == orb->name();
00380 //      }
00381 //      std::string m_name;
00382 //    };
00383     
00384     class collect_orbs
00385     {
00386     public:
00387       void operator()(IORB* orb)
00388       {
00389         orbs_.push_back(orb);
00390       }
00391       std::vector<IORB*> orbs_;
00392     };
00393 
00394     class available_orbs
00395     {
00396     public:
00397       void operator()(IORB* orb)
00398       {
00399         orbs_.push_back(orb->name());
00400       }
00401       std::vector<std::string> orbs_;
00402     };
00403 
00411     class activate_impl
00412     {
00413     public:
00414       activate_impl(ImplBase* impl,
00415                     const char* orbname = "")
00416         : m_impl(impl), m_orbname(orbname)
00417       {
00418       }
00419       void operator()(IORB* orb)
00420       {
00421         if (m_orbname.empty() || m_orbname == orb->name())
00422           {
00423             ReturnCode_t ret = orb->activateObject(m_impl);
00424             retcodes_.push_back(orb->name(), ret);
00425           }
00426       }
00427       ReturnCodes retcodes_;
00428     private:
00429       ImplBase* m_impl;
00430       std::string m_orbname;
00431     };
00432     
00433 
00441     class deactivate_impl
00442     {
00443     public:
00444       deactivate_impl(ImplBase* impl, const char* orbname = "")
00445         : m_impl(impl), m_orbname(orbname)
00446       {
00447       }
00448       void operator()(IORB* orb)
00449       {
00450         if (m_orbname.empty() || m_orbname == orb->name())
00451           {
00452             ReturnCode_t ret = orb->deactivateObject(m_impl);
00453             retcodes_.push_back(orb->name(), ret);
00454           }
00455       }
00456       ReturnCodes retcodes_;
00457     private:
00458       ImplBase* m_impl;
00459       std::string m_orbname;
00460     };
00461     
00462     class deactivate_by_name
00463     {
00464     public:
00465       deactivate_by_name(const char* name, const char* orbname = "")
00466         : m_name(name), m_orbname(orbname)
00467       {
00468       }
00469       void operator()(IORB* orb)
00470       {
00471         if (m_orbname.empty() || m_orbname == orb->name())
00472           {
00473             ReturnCode_t ret(orb->deactivateObject(m_name.c_str()));
00474             retcodes_.push_back(orb->name(), ret);
00475           }
00476       }
00477       ReturnCodes retcodes_;
00478       std::string m_name;
00479       std::string m_orbname;
00480     };
00481 
00482     class collect_impl
00483     {
00484     public:
00485       collect_impl()
00486       {
00487       }
00488       void operator()(ImplBase* impl)
00489       {
00490         impls_.push_back(impl);
00491       }
00492       std::vector<ImplBase*> impls_;
00493     };
00494   };
00495 }; // namespace doil
00496 #endif // DOIL_ORB_MANAGER_H


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:16