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Oncilla.h
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Fri, Jul 4, 23:42

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>
#include <set>
namespace rci {
namespace oncilla {
class BackendLoader;
class Oncilla {
public:
typedef boost::shared_ptr<Oncilla> Ptr;
/**
* When an Oncilla object is created, it will initialize all the resources
* corresponding to node regarding the backend. At the backend level, if
* some error happens, it will results by an Exception beeing thrown, for
* example if one of the motor device is not available. User can change the
* behavior by masking this exception, and defer them to the point where
* they actually use the non-initialized node. This allow a finer control
* of the robot, if an user want to drive only a leg and does not care if the
* rest of the robot is online. By default throwing on initialization is
* enabled.
* @param throwOn if \true, Oncilla object will throw exception on initialization.
*/
static void throwExceptionOnInitialization(bool throwOn);
static bool willThrowOnInitialization();
static std::string nameOfLeg(Leg l);
Oncilla();
Oncilla(const OncillaBackend::Ptr & backend);
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;
typedef std::set<OncillaBackend::Ptr> SetOfBackend;
typedef std::tr1::shared_ptr<std::runtime_error> RuntimeErrPtr;
typedef std::vector<RuntimeErrPtr> ListOfErrors;
void init();
static SetOfBackend s_backends;
static bool s_throwExceptionOnInitialization;
rci::oncilla::Synchronizer::Ptr d_synchronizer;
//object cerated with teh backend depend on the backen existance, so this
// pointer should be first (even if we save the backends in the static set)
OncillaBackend::Ptr d_backend;
std::vector<L0::Ptr> d_L0s;
std::vector<L1::Ptr> d_L1s;
std::vector<L2::Ptr> d_L2s;
std::vector<L3::Ptr> d_L3s;
ListOfErrors d_L0Errors;
ListOfErrors d_L1Errors;
ListOfErrors d_L2Errors;
ListOfErrors d_L3Errors;
Trunk::Ptr d_trunk;
RuntimeErrPtr d_trunkError;
Supervisor::Ptr d_supervisor;
};
}
}

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