source: flair-dev/trunk/include/FlairCore/IODevice.h@ 6

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file IODevice.h
 * \brief Abstract class for input/ouput system
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/05/01
 * \version 4.0
 */

#ifndef IO_DEVICE_H
#define IO_DEVICE_H

#include <Object.h>

class IODevice_impl;
class Thread_impl;
class FrameworkManager_impl;

namespace flair { namespace core {

    class io_data;
    class DataType;

    /*! \class IODevice
    *
    * \brief Abstract class for input/ouput system
    *
    * An input/output system is generally used to describe a sensor, an actuator or a filter. \n
    * These systems can be linked (for exemple a sensor with a filter), when an IODevice
    * is created with a parent of type IODevice.
    * In this case, an update of the parent's data will call an update
    * of the child's data (for exemple when a sensor gets new datas, a filter is automatically called). \n
    * Output of this object can also be sent to a shared memory using the OutputToShMem method; in order to use it with an
    * external program.
    */
    class IODevice: public Object {
        friend class ::IODevice_impl;
        friend class ::Thread_impl;
        friend class ::FrameworkManager_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct an IODevice of Object's type "IODevice" (see Object::ObjectType). \n
            * If parent's Object::ObjectType is also "IODevice", this IODevice will be linked to its parent
            * (see ProcessUpdate()).
            *
            * \param parent parent
            * \param name name
            */
            IODevice(const Object* parent,std::string name);

            /*!
            * \brief Destructor
            *
            */
            virtual ~IODevice();

            /*!
            * \brief Add an IODevice to the logs
            *
            * The IODevice will be automatically logged among this IODevice logs,
            * if logging is enabled (see SetDataToLog(), FrameworkManager::StartLog
            * and FrameworkManager::AddDeviceToLog). \n
            * Logging happens when ProcessUpdate() is called. \n
            * Note that when an IODevice is just added for logs (ie. no parent/child
            * link between the two IODevice),
            * UpdateFrom() is not automatically called.
            *
            * \param device IODevice to log
            */
            void AddDeviceToLog(const IODevice* device);

            /*!
            * \brief Add an io_data to the log
            *
            * The io_data will be automatically logged if enabled (see FrameworkManager::StartLog
            * and FrameworkManager::AddDeviceToLog),
            * during call to ProcessUpdate().
            *
            * \param data data to log
            */
            void AddDataToLog(const io_data* data);

            /*!
            * \brief Send the output to a shared memory
            *
            * Use this method to output log datas to a shared memory.
            * This can be usefull to get datas from an external progam. \n
            * Output happens when ProcessUpdate() is called. \n
            * The name and the structure of the shared memory will be displayed when
            * this method is called with true as argument. \n
            * By default it is not enabled.
            *
            *
            * \param enabled true to enable the output, false otherwise
            */
            void OutputToShMem(bool enabled);

            //TODO: these 2 method should be pure virtual
            virtual DataType const &GetInputDataType() const;
            virtual DataType const &GetOutputDataType() const;

        protected:
            /*!
            * \brief Process the childs of type IODevice, and log if needed
            *
            * This method must be called after computing datas;
            * generally at the end of the reimplemented UpdateFrom or after acquiring datas in case of a sensor. \n
            * It will call UpdateFrom methods of each child of type IODevice,
            * and log all datas (this IODevice and its childs)
            * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
            * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
            * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be resumed.
            *
            * \param data data to process
            */
            void ProcessUpdate(io_data* data);

        private:
            /*!
            * \brief Update using provided datas
            *
            * This method is automatically called by ProcessUpdate()
            * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
            * This method must be reimplemented, in order to process the data from the parent.
            *
            * \param data data from the parent to process
            */
            virtual void UpdateFrom(const io_data *data)=0;

            class IODevice_impl* pimpl_;
    };

} // end namespace core
} // end namespace flair

#endif // IO_DEVICE_H