jaus++/2.0/include/jaus/core/component.h

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#ifndef __JAUS_CORE_COMPONENT__H
#define __JAUS_CORE_COMPONENT__H

#include "jaus/core/transport/transport.h"
#include "jaus/core/events/events.h"
#include "jaus/core/liveness/liveness.h"
#include "jaus/core/discovery/discovery.h"
#include "jaus/core/control/accesscontrol.h"
#include "jaus/core/management/management.h"
#include "jaus/core/time/timeservice.h"
#include <cxutils/ipc/mappedmemory.h>

namespace JAUS
{
    class JAUS_CORE_DLL Component
    {
    public:
        // Constructor.
        Component();
        // Destructor.
        virtual ~Component();
        // Initializes the component with a given ID.
        virtual bool Initialize(const Address& id, 
                                const double serviceUpdateFrequency = 10.0);    
        // Initializes the component with a given ID.
        virtual bool InitializeWithUniqueID(const unsigned int waitTimeMs = 3000,
                                            const double serviceUpdateFrequency = 10.0); 
        // Check to see if component is initialized.
        inline bool IsInitialized() const { return mpTransportService->IsInitialized(); }
        // Loads settings for the component and it's services.
        bool LoadSettings(const std::string& filename);
        // Shutsdown the Component.
        void Shutdown();
        // Gets a pointer to the service.
        inline Transport* TransportService() { return mpTransportService; }
        // Gets a pointer to the service.
        Events* EventsService();
        // Gets a pointer to the service.
        Liveness* LivenessService();
        // Gets a pointer to the service.
        Discovery* DiscoveryService();
        // Gets a pointer to the service.
        AccessControl* AccessControlService();
        // Gets a pointer to the service.
        Management* ManagementService();
        // Gets a pointer to the service.
        TimeService* GetTimeService();
        // Gets a pointer to the service.
        inline const Transport* TransportService() const { return mpTransportService; }
        // Gets a pointer to the service.
        const Events* EventsService() const;
        // Gets a pointer to the service.
        const Liveness* LivenessService() const;
        // Gets a pointer to the service.
        const Discovery* DiscoveryService() const;
        // Gets a pointer to the service.
        const AccessControl* AccessControlService() const;
        // Gets a pointer to the service.
        const Management* ManagementService() const;
        // Gets a pointer to the service.
        const TimeService* GetTimeService() const;
        // Sends a message.
        bool Send(const Message* message, const int broadcastFlags = Service::NoBroadcast) const;
        // Sends a message, then waits for a response.
        bool Send(const Message* message, 
                  Message* response, 
                  const unsigned int waitTimeMs = Service::DefaultWaitMs) const;
        // Toggles a Service on or off.  By default, all services are enabled.
        bool EnableService(const std::string& name, const bool enable = true);
        // Adds a service to the component.  Service pointer is owned by Component.
        bool AddService(Service* service);
        // Gets a pointer to a service.
        Service* GetService(const std::string& name);
        // Gets a pointer to a service.
        const Service* GetService(const std::string& name) const;
        // Gets all services.
        inline Service::Map GetServices() { return mServices; }
        // Gets a list of all services for the Component.
        Service::ID::List GetServiceList() const;
        // Gets a list of all services for the Component.
        Service::ID::Set GetServiceSet() const;
        // Gets the component ID.
        inline Address GetComponentID() const { return mComponentID; }
        // Prints the status information for all services.
        virtual void PrintStatus() const;
    private:
        static void CheckServiceStatusEvent(void* args);
        static void CheckCoreServicesStatusEvent(void* args);
        Address mComponentID;                   
        volatile bool mInitializedFlag;         
        Time::Stamp mServiceCheckTimeMs;        
        Time::Stamp mCoreServicesCheckTimeMs;   
        Transport* mpTransportService;          
        Service::Map mServices;                 
        CxUtils::Timer mCheckServiceTimer;      
        CxUtils::Timer mCheckCoreServicesTimer; 
        Events* mpEventsService;                
        Liveness* mpLivenessService;            
        Discovery* mpDiscoveryService;          
        AccessControl * mpAccessControlService; 
        Management* mpManagementService;        
        TimeService* mpTimeService;             
        CxUtils::MappedMemory mLockID;          
    };
}

#endif
/*  End of File */