controllers_manager.h
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00001 /*
00002  * Copyright (c) 2012, Robot Control and Pattern Recognition Group, Warsaw University of Technology.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Robot Control and Pattern Recognition Group,
00014  *       Warsaw University of Technology nor the names of its contributors may
00015  *       be used to endorse or promote products derived from this software
00016  *       without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 /*
00032  * ControllersManager.h
00033  *
00034  *  Created on: 04-02-2012
00035  *      Author: Konrad Banachowicz
00036  */
00037 
00038 #ifndef ControllersManager_H_
00039 #define ControllersManager_H_
00040 
00041 #include <string>
00042 #include <vector>
00043 
00044 #include <boost/shared_ptr.hpp>
00045 
00046 #include <rtt/TaskContext.hpp>
00047 #include <rtt/Port.hpp>
00048 #include <rtt/Property.hpp>
00049 
00050 #include <oro_action_server.h>
00051 
00052 #include <oro_controllers_manager/SwitchControllerAction.h>
00053 
00054 class ControllersManager : public RTT::TaskContext
00055 {
00056 private:
00057     typedef actionlib::ActionServer<oro_controllers_manager::SwitchControllerAction> JTAS;
00058     typedef JTAS::GoalHandle GoalHandle;
00059     typedef boost::shared_ptr<const oro_controllers_manager::SwitchControllerGoal> Goal;
00060 public:
00061     ControllersManager(const std::string& name);
00062     virtual ~ControllersManager();
00063 
00064     bool configureHook();
00065     bool startHook();
00066     void updateHook();
00067 protected:
00068     RTT::Property<int> number_of_controllers_prop_;
00069     RTT::Property<std::string> default_controller_prop_;
00070 private:
00071 
00072     void goalCB(GoalHandle gh);
00073     void cancelCB(GoalHandle gh);
00074 
00075     actionlib::ActionServer<oro_controllers_manager::SwitchControllerAction> as;
00076     bool goal_active;
00077     GoalHandle activeGoal;
00078     
00079     unsigned int number_of_controllers_;
00080     int active_controller_;
00081     int next_controller_;
00082     std::vector<std::string> controllers_names_;
00083     std::vector<boost::shared_ptr<RTT::OutputPort<bool> > > controllers_enable_port_;
00084     std::vector<boost::shared_ptr<RTT::InputPort<bool> > >controllers_busy_port_;
00085 };
00086 
00087 #endif /* ControllersManager_H_ */
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oro_controllers_manager
Author(s): Konrad Banachowicz
autogenerated on Thu Nov 14 2013 11:53:36