Synchronizer.h
f442698c32aedev-arne

Synchronizer.h
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			#pragma once

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

			#include <rci/Synchronizer.h>

			#include "common.h"


			namespace rci {
			namespace oncilla {




			/**
			* Synchronizer
			* 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 Synchronizer: public ::rci::Synchronizer {
			public:
			typedef boost::shared_ptr<rci::oncilla::Synchronizer> Ptr;

			Synchronizer(const std::string &name);
			virtual ~Synchronizer();


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

			virtual double lastProcessTimeStep() const = 0;

			virtual void processAsync();

			virtual void waitForProcessAsync();

			virtual bool start();

			virtual void calibrateIfNeeded() = 0;

			protected :
			virtual void ProcessAsyncPrimpl() = 0;

			virtual void WaitForProcessAsyncPrimpl() = 0;

			bool d_inProcess;
			};

			}
			}