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OncillaSynchronizer.h
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Created
Wed, Aug 7, 05:38
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text/x-c++
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Fri, Aug 9, 05:38 (1 d, 23 h)
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R6622 liboncilla
OncillaSynchronizer.h
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#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/Synchronizer.h>
#include "OncillaTrunk.h"
#include "OncillaL01.h"
#include "OncillaL2.h"
#include "OncillaL3.h"
#include "OncillaL4.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
(
unsigned
int
index
,
OncillaTrunkPtr
node
)
=
0
;
/**
* Registers an L0 node.
*/
virtual
void
registerL0Node
(
unsigned
int
index
,
OncillaL0Ptr
node
)
=
0
;
/**
* Registers an L1 node.
*/
virtual
void
registerL1Node
(
unsigned
int
index
,
OncillaL1Ptr
node
)
=
0
;
/**
* Registers an L2 node.
*/
virtual
void
registerL2Node
(
unsigned
int
index
,
OncillaL2Ptr
node
)
=
0
;
/**
* Registers an L3 node.
*/
virtual
void
registerL3Node
(
unsigned
int
index
,
OncillaL3Ptr
node
)
=
0
;
/**
* Registers an L4 node.
*/
virtual
void
registerL4Node
(
unsigned
int
index
,
OncillaL4Ptr
node
)
=
0
;
/**
*
*/
friend
std
::
ostream
&
operator
<<
(
std
::
ostream
&
os
,
const
OncillaSynchronizer
&
val
);
protected:
/**
* Only true for the first time
*/
bool
_onlyReceive
;
/**
*
*/
std
::
string
name
;
};
}
}
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