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