Oncilla.h
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	/*
	* 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;

	//beware that the object holded by liboncilla
	//are create by the backend. therefore, the pointer has to destroyed after
	//all the other member instance
	OncillaBackend::Ptr d_backend; //should be first instance WHATSOEVER



	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;



	Supervisor::Ptr d_supervisor;

	};

	}
	}