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OncillaSynchronizer.h
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Tue, Nov 5, 02:49

OncillaSynchronizer.h
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#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/Synchronizer.h>
#include "Oncilla.h"
namespace rci {
namespace oncilla {
class OncillaSynchronizer;
typedef std::tr1::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;
class OncillaTrunk;
typedef std::tr1::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
class OncillaL0;
typedef std::tr1::shared_ptr<OncillaL0> OncillaL0Ptr;
class OncillaL1L2;
typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL1Ptr;
typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL2Ptr;
class OncillaL3;
typedef std::tr1::shared_ptr<OncillaL3> OncillaL3Ptr;
class OncillaL4;
typedef std::tr1::shared_ptr<OncillaL4> OncillaL4Ptr;
/**
* 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:
enum Synchronization {
INTERNAL,
EXTERNAL
};
OncillaSynchronizer(const std::string &name);
virtual ~OncillaSynchronizer();
/**
* Registers a trunk node.
*/
virtual void registerTrunkNode(OncillaTrunkPtr node) = 0;
/**
* Registers an L0 node.
*/
virtual void registerL0Node(Oncilla::Leg l, OncillaL0Ptr node) = 0;
/**
* Registers an L1 node.
*/
virtual void registerL1Node(Oncilla::Leg l, OncillaL1Ptr node) = 0;
/**
* Registers an L2 node.
*/
virtual void registerL2Node(Oncilla::Leg l, OncillaL2Ptr node) = 0;
/**
* Registers an L3 node.
*/
virtual void registerL3Node(Oncilla::Leg l, OncillaL3Ptr node) = 0;
/**
* Registers an L4 node.
*/
virtual void registerL4Node(Oncilla::Leg l, OncillaL4Ptr node) = 0;
/**
*
*/
friend std::ostream
& operator<<(std::ostream& os, const OncillaSynchronizer& val);
double latestProcessLoopDuration() const;
Synchronization synchronizationMode() const;
void setSynchronizationMode(Synchronization s);
protected :
virtual double latestProcessLoopDurationPrimpl() const = 0;
virtual void switchToSynchronizationModeHook() = 0;
Synchronization d_mode;
};
}
}

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