source: flair-src/trunk/lib/FlairCore/src/IODevice.h@ 38

Last change on this file since 38 was 38, checked in by Bayard Gildas, 6 years ago

Modif. pour ajour manette émulée (EmulatedController)

File size: 4.4 KB
Line 
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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