MIRA
UnitManager.h
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38 
47 #ifndef _MIRA_UNITMANAGER_H_
48 #define _MIRA_UNITMANAGER_H_
49 
50 #include <tuple>
51 
52 #include <fw/MicroUnit.h>
53 
54 namespace mira {
55 
57 
63 {
64 public:
65 
66  ~UnitManager();
67 
73  std::string addThreadGroup(const ResourceName& ns, const std::string& name);
74 
84  void addUnit(MicroUnitPtr unit, const std::string& ns,
85  const std::string& name, const std::string& threadGroup = "",
86  bool startAtInit=true);
87 
91  void removeUnit(const std::string& id);
92 
97  MicroUnitPtr getUnit(const std::string& id);
98 
103  void initializeUnits();
104 
108  void startUnits();
109 
113  void stopUnits(bool destruct=false);
114 
115 protected:
116  // each tuple contains 1. the shared pointer to the micro unit
117  // 2. the namespace of the unit as string
118  // 3. the name of the unit as string
119  // 4. the name of the thread group if any
120  // 5. flag if unit shall be started after initialization
121  typedef std::tuple<MicroUnitPtr, std::string, std::string, std::string, bool> UnitEntry;
122  typedef std::list<UnitEntry> UnitList;
124  std::map<std::string, boost::shared_ptr<Authority>> mThreadGroups;
125  mutable boost::mutex mUnitsMutex;
126 };
127 
129 
130 }
131 
132 #endif
boost::shared_ptr< MicroUnit > MicroUnitPtr
Definition: MicroUnit.h:254
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
boost::mutex mUnitsMutex
Definition: UnitManager.h:125
Base class for all units.
Class for storing/combining/managing resource names consisting of namespaces and names separated by &#39;...
Definition: ResourceName.h:68
#define MIRA_FRAMEWORK_EXPORT
Definition: FrameworkExports.h:61
std::tuple< MicroUnitPtr, std::string, std::string, std::string, bool > UnitEntry
Definition: UnitManager.h:121
std::list< UnitEntry > UnitList
Definition: UnitManager.h:122
std::map< std::string, boost::shared_ptr< Authority > > mThreadGroups
Definition: UnitManager.h:124
UnitList mUnits
Definition: UnitManager.h:123
Class managing micro units and units.
Definition: UnitManager.h:62