Configurator.hpp

00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jan 19 14:11:19 CET 2004  Configurator.hpp
00003 
00004                         Configurator.hpp -  description
00005                            -------------------
00006     begin                : Mon January 19 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_CONFIGURATOR_HPP
00040 #define ORO_CONFIGURATOR_HPP
00041 
00042 #include "ConfigurationInterface.hpp"
00043 #include "PeriodicActivity.hpp"
00044 #include "TimeService.hpp"
00045 #include "Time.hpp"
00046 
00047 namespace RTT
00048 {
00061     class RTT_API Configurator
00062         : protected PeriodicActivity
00063     {
00064     public:
00071         Configurator( double period )
00072             :PeriodicActivity(RTT::OS::LowestPriority, period ), mtarget(0), status (false)
00073         {
00074         }
00075 
00083         bool configure( ConfigurationInterface* target, Seconds _timeout = 0 )
00084         {
00085             mtarget = target;
00086             TimeService::ticks timestamp = TimeService::Instance()->getTicks();
00087             this->start();
00088 
00089             while ( this->isRunning() && ( _timeout == 0 ||
00090                                            TimeService::Instance()->secondsSince(timestamp) < _timeout ) )
00091                 {
00092                     struct timespec tt;
00093                     tt.tv_nsec=100*1000*1000; // 0.1 Hz
00094                     tt.tv_sec =0;
00095                     nanosleep(&tt, 0);
00096                 }
00097 
00098             this->stop();
00099 
00100             return status;
00101         }
00102 
00106         ConfigurationInterface* configTarget() const
00107         {
00108             return mtarget;
00109         }
00110 
00111         bool initialize()
00112         {
00113             mtarget->configInit();
00114             return true;
00115         }
00116 
00117         void step()
00118         {
00119             if ( !mtarget->configStep() || mtarget->isFinished() )
00120                 this->stop();
00121         }
00122 
00123         void finalize()
00124         {
00125             status = mtarget->isFinished();
00126             mtarget->configCleanup();
00127         }
00128 
00129     protected:
00130         ConfigurationInterface* mtarget;
00131 
00135         bool status;
00136     };
00137 
00138 }
00139 
00140 
00141 #endif
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