Synchronizer.h

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00001 /* ============================================================
00002  *
00003  * This file is a part of RCI project
00004  *
00005  * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
00006  *
00007  * This file may be licensed under the terms of the
00008  * GNU Lesser General Public License Version 3 (the ``LGPL''),
00009  * or (at your option) any later version.
00010  *
00011  * Software distributed under the License is distributed
00012  * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
00013  * express or implied. See the LGPL for the specific language
00014  * governing rights and limitations.
00015  *
00016  * You should have received a copy of the LGPL along with this
00017  * program. If not, go to http://www.gnu.org/licenses/lgpl.html
00018  * or write to the Free Software Foundation, Inc.,
00019  * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
00020  *
00021  * The development of this software was supported by:
00022  *   CoR-Lab, Research Institute for Cognition and Robotics
00023  *     Bielefeld University
00024  *
00025  * ============================================================ */
00026 
00027 #pragma once
00028 
00029 #include <vector>
00030 #include <iostream>
00031 #include <boost/shared_ptr.hpp>
00032 
00033 #include "rci/ResourceNode.h"
00034 
00035 namespace rci {
00036 
00037 class Synchronizer;
00038 typedef boost::shared_ptr<Synchronizer> SynchronizerPtr;
00039 
00049 class Synchronizer {
00050 public:
00051     Synchronizer(const std::string &name);
00052     virtual ~Synchronizer();
00053 
00061     virtual void process();
00062 
00069     virtual void processAsync() = 0;
00070 
00077     virtual void waitForProcessAsync() = 0;
00078 
00083     virtual bool start();
00084 
00088     virtual bool stop();
00089 
00095     virtual bool tooBusy() const;
00096 
00100     friend std::ostream
00101     & operator<<(std::ostream& os, const Synchronizer& val);
00102 
00103 protected:
00104 
00108     bool _onlyReceive;
00109 
00113     bool busy;
00114 
00118     std::string name;
00119 };
00120 
00121 }
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