CommandProcessor.hpp

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  CommandProcessor.hpp

                        CommandProcessor.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
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#ifndef ORO_COMMAND_PROCESSOR_HPP
#define ORO_COMMAND_PROCESSOR_HPP

#include "RunnableInterface.hpp"
#include "CommandInterface.hpp"
#include "BufferPolicy.hpp"

#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>

#include "rtt-config.h"

namespace RTT
{
    template< class T, class RP, class WP>
    class AtomicQueue;
}

namespace RTT
{
    class CommandProcessor
        : public RunnableInterface
    {
    public:
        CommandProcessor(int queue_size = ORONUM_EXECUTION_PROC_QUEUE_SIZE);

        virtual ~CommandProcessor();

        virtual bool initialize();
        virtual void step();
        virtual void finalize();

        virtual int process(CommandInterface* c);

        virtual bool isProcessed( int id ) const;

        void acceptCommands( bool true_false) { accept=true_false; }

    protected:

        AtomicQueue<CommandInterface*,NonBlockingPolicy,NonBlockingPolicy>* a_queue;

        int coms_processed;

        bool accept;
    };

}

#endif