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

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/



#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>

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

namespace RTT
{
    class RTT_API 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 bool hasWork();

        virtual int process(CommandInterface* c);

        virtual bool isProcessed( int id ) const;

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

    protected:

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

        int coms_processed;

        bool accept;
    };

}

#endif