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