OncillaSynchronizer.h
b3e216ffc583debian-lucid

OncillaSynchronizer.h
View Options

			#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);

			virtual double lastProcessTimeStep() const = 0;

			};

			}
			}