app_manager.h

Go to the documentation of this file.

#ifndef APP_MANAGER_H_
#define APP_MANAGER_H_

#include <iostream>
#include <vector>
#include <map>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <pluginlib/class_loader.h>
#include <pluginlib/class_list_macros.h>

#include "micros_swarm/application.h"
#include "app_loader/AppLoad.h"
#include "app_loader/AppUnload.h"
#include "app_loader/RTDestroy.h"

namespace micros_swarm{
    struct AppInstance{
        std::string app_name_;
        std::string app_type_;
        boost::shared_ptr<Application> app_ptr_;
        bool running_;
        uint8_t status_;
    };

    struct Worker{
    public:
        Worker(int id);
        ~Worker();
        void addApp(AppInstance* app);
        void removeApp(const std::string& app_name);
        int getAppNum();
        AppInstance* getAppInstance(const std::string& app_name);
    private:
        void workFunc();
        int id_;
        volatile bool run_;
        boost::thread* thread_;
        std::vector<AppInstance*> apps_;
    };

    class AppManager
    {
    public:
        AppManager();
        AppManager(int worker_num);
        ~AppManager();
        void stop();
    private:
        bool recordExist(const std::string& name);
        void addRecord(const std::string& name, int worker_id);
        void removeRecord(const std::string& name);
        int allocateWorker();
        void insertOrUpdatePluginUseCount(const std::string& type);
        void decreasePluginUseCount(const std::string& type);
        int getPluginUseCount(const std::string& type);
        bool loadService(app_loader::AppLoad::Request &req, app_loader::AppLoad::Response &resp);
        bool unloadService(app_loader::AppUnload::Request &req, app_loader::AppUnload::Response &resp);
        pluginlib::ClassLoader<micros_swarm::Application> app_loader_;
        ros::ServiceServer app_load_srv_, app_unload_srv_;
        ros::ServiceClient client_;
        int worker_num_;
        std::vector<Worker*> worker_table_;
        std::vector<uint16_t> load_table_;
        std::map<std::string, int> apps_record_;
        std::map<std::string, int> plugin_use_count_;
    };
};

#endif