OncillaSynchronizer.h
No OneTemporary
Actions

Subscribers

None

File Metadata

	#pragma once

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

	#include <rci/Synchronizer.h>

	#include "common.h"

	#include "OncillaL0.h"
	#include "OncillaL1L2.h"
	#include "OncillaL3.h"
	#include "OncillaL4.h"
	#include "OncillaTrunk.h"

	namespace rci {
	namespace oncilla {

	class OncillaSynchronizer;
	typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;




	/**
	* OncillaSynchronizer
	* Different OncillaSynchronizers may be for example:
	* * Update with a given frequency
	* ** Send data every time
	* ** Send only if new data
	* * Update only if new data (event-based)
	* * Triggered from robot side (e.g. FRI)
	*/
	class OncillaSynchronizer: public Synchronizer {
	public:
	OncillaSynchronizer(const std::string &name);
	virtual ~OncillaSynchronizer();

	/**
	* Registers a trunk node.
	*/
	virtual void registerTrunkNode(OncillaTrunkPtr node) = 0;

	/**
	* Registers an L0 node.
	*/
	virtual void registerL0Node(Leg l, OncillaL0Ptr node) = 0;

	/**
	* Registers an L1 node.
	*/
	virtual void registerL1Node(Leg l, OncillaL1Ptr node) = 0;

	/**
	* Registers an L2 node.
	*/
	virtual void registerL2Node(Leg l, OncillaL2Ptr node) = 0;

	/**
	* Registers an L3 node.
	*/
	virtual void registerL3Node(Leg l, OncillaL3Ptr node) = 0;

	/**
	* Registers an L4 node.
	*/
	virtual void registerL4Node(Leg l, OncillaL4Ptr node) = 0;

	/**
	*
	*/
	friend std::ostream
	& operator<<(std::ostream& os, const OncillaSynchronizer& val);

	double latestProcessLoopDuration() const;

	protected :
	virtual double latestProcessLoopDurationPrimpl() const = 0;
	};

	}
	}