Oncilla.h
5b8a0bd54d8bdebian-maverick

Oncilla.h
View Options

			/*
			* Oncilla.h
			*
			* Created on: 15 dec. 2011
			* Author: Alexandre Tuleu, Arne Nordmann
			*/
			#pragma once

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

			#include "common.h"
			#include "Supervisor.h"
			#include <liboncilla/utils/OncillaBackend.h>
			#include <liboncilla/Synchronizer.h>
			#include <liboncilla/nodes/Nodes.h>

			namespace rci {
			namespace oncilla {

			class BackendLoader;


			class Oncilla {
			public:
			typedef boost::shared_ptr<Oncilla> Ptr;
			static std::string nameOfLeg(Leg l);

			Oncilla();
			virtual ~Oncilla();

			const L0::Ptr & getL0(Leg l) const;
			const L1::Ptr & getL1(Leg l) const;
			const L2::Ptr & getL2(Leg l) const;
			const L3::Ptr & getL3(Leg l) const;
			const Trunk::Ptr & getTrunk() const;

			const rci::oncilla::Synchronizer::Ptr & getSynchronizer() const;

			const rci::oncilla::Supervisor::Ptr & getSupervisor() const;

			private:
			typedef std::vector<std::string> LegNames;

			void init();

			static rci::oncilla::Synchronizer::Ptr s_synchronizer;

			std::vector<L0::Ptr> d_L0s;
			std::vector<L1::Ptr> d_L1s;
			std::vector<L2::Ptr> d_L2s;
			std::vector<L3::Ptr> d_L3s;

			Trunk::Ptr d_trunk;

			OncillaBackend::Ptr d_backend;

			};

			}
			}