hardware_resource_manager.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#pragma once
 
 
#include <string>
 
#include <hardware_interface/hardware_interface.h>
#include <hardware_interface/internal/resource_manager.h>
 
namespace hardware_interface
{
 
struct ClaimResources;
struct DontClaimResources;
 
template <class ResourceHandle, class ClaimPolicy = DontClaimResources>
class HardwareResourceManager : public HardwareInterface, public ResourceManager<ResourceHandle>
{
public:
  typedef ResourceHandle ResourceHandleType;
 
  ResourceHandle getHandle(const std::string& name)
  {
    try
    {
      ResourceHandle out = this->ResourceManager<ResourceHandle>::getHandle(name);
 
      // If ClaimPolicy type is ClaimResources, the below method claims resources, for DontClaimResources it's a no-op
      ClaimPolicy::claim(this, name);
 
      return out;
    }
    catch(const std::logic_error& e)
    {
      throw HardwareInterfaceException(e.what());
    }
  }
 
  /*\}*/
};
 
struct ClaimResources
{
  static void claim(HardwareInterface* hw, const std::string& name) {hw->claim(name);}
};
 
struct DontClaimResources
{
  static void claim(HardwareInterface* /*hw*/, const std::string& /*name*/) {}
};
}