source: flair-src/trunk/lib/FlairCore/src/IODevice.h @ 67

Last change on this file since 67 was 58, checked in by Bayard Gildas, 5 years ago

Test

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