source: flair-dev/trunk/include/FlairCore/IODevice.h @ 25

Last change on this file since 25 was 25, checked in by Bayard Gildas, 4 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file IODevice.h
7 * \brief Abstract class for input/ouput system
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef IO_DEVICE_H
14#define IO_DEVICE_H
15
16#include <Object.h>
17
18class IODevice_impl;
19class Thread_impl;
20class FrameworkManager_impl;
21
22namespace flair {
23namespace core {
24
25class io_data;
26class DataType;
27
28/*! \class IODevice
29*
30* \brief Abstract class for input/ouput system
31*
32* An input/output system is generally used to describe a sensor, an actuator or
33*a filter. \n
34* These systems can be linked (for exemple a sensor with a filter), when an
35*IODevice
36* is created with a parent of type IODevice.
37* In this case, an update of the parent's data will call an update
38* of the child's data (for exemple when a sensor gets new datas, a filter is
39*automatically called). \n
40* Output of this object can also be sent to a shared memory using the
41*OutputToShMem method; in order to use it with an
42* external program.
43*/
44class IODevice : public Object {
45  friend class ::IODevice_impl;
46  friend class ::Thread_impl;
47  friend class ::FrameworkManager_impl;
48
49public:
50  /*!
51  * \brief Constructor
52  *
53  * Construct an IODevice of Object's type "IODevice" (see Object::ObjectType).
54  *\n
55  * If parent's Object::ObjectType is also "IODevice", this IODevice will be
56  *linked to its parent
57  * (see ProcessUpdate()).
58  *
59  * \param parent parent
60  * \param name name
61  */
62  IODevice(const Object *parent, std::string name);
63
64  /*!
65  * \brief Destructor
66  *
67  */
68  virtual ~IODevice();
69
70  /*!
71  * \brief Add an IODevice to the logs
72  *
73  * The IODevice will be automatically logged among this IODevice logs,
74  * if logging is enabled (see SetDataToLog(), FrameworkManager::StartLog
75  * and FrameworkManager::AddDeviceToLog). \n
76  * Logging happens when ProcessUpdate() is called. \n
77  * Note that when an IODevice is just added for logs (ie. no parent/child
78  * link between the two IODevice),
79  * UpdateFrom() is not automatically called.
80  *
81  * \param device IODevice to log
82  */
83  void AddDeviceToLog(const IODevice *device);
84
85  /*!
86  * \brief Add an io_data to the log
87  *
88  * The io_data will be automatically logged if enabled (see
89  *FrameworkManager::StartLog
90  * and FrameworkManager::AddDeviceToLog),
91  * during call to ProcessUpdate().
92  *
93  * \param data data to log
94  */
95  void AddDataToLog(const io_data *data);
96
97  /*!
98  * \brief Send the output to a shared memory
99  *
100  * Use this method to output log datas to a shared memory.
101  * This can be usefull to get datas from an external progam. \n
102  * Output happens when ProcessUpdate() is called. \n
103  * The name and the structure of the shared memory will be displayed when
104  * this method is called with true as argument. \n
105  * By default it is not enabled.
106  *
107  *
108  * \param enabled true to enable the output, false otherwise
109  */
110  void OutputToShMem(bool enabled);
111
112  // TODO: these 2 method should be pure virtual
113  virtual DataType const &GetInputDataType() const;
114  virtual DataType const &GetOutputDataType() const;
115
116            Time lastUpdate;
117        protected:
118            /*!
119            * \brief Process the childs of type IODevice, and log if needed
120            *
121            * This method must be called after computing datas;
122            * generally at the end of the reimplemented UpdateFrom or after acquiring datas in case of a sensor. \n
123            * It will call UpdateFrom methods of each child of type IODevice,
124            * and log all datas (this IODevice and its childs)
125            * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
126            * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
127            * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be resumed.
128            *
129            * \param data data to process
130            */
131            void ProcessUpdate(io_data* data);
132
133private:
134  /*!
135  * \brief Update using provided datas
136  *
137  * This method is automatically called by ProcessUpdate()
138  * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
139  * This method must be reimplemented, in order to process the data from the
140  *parent.
141  *
142  * \param data data from the parent to process
143  */
144  virtual void UpdateFrom(const io_data *data) = 0;
145
146  class IODevice_impl *pimpl_;
147};
148
149} // end namespace core
150} // end namespace flair
151
152#endif // IO_DEVICE_H
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