MIRA
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
AuthorityRuntime.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012 by
3  * MetraLabs GmbH (MLAB), GERMANY
4  * and
5  * Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
6  * All rights reserved.
7  *
8  * Contact: info@mira-project.org
9  *
10  * Commercial Usage:
11  * Licensees holding valid commercial licenses may use this file in
12  * accordance with the commercial license agreement provided with the
13  * software or, alternatively, in accordance with the terms contained in
14  * a written agreement between you and MLAB or NICR.
15  *
16  * GNU General Public License Usage:
17  * Alternatively, this file may be used under the terms of the GNU
18  * General Public License version 3.0 as published by the Free Software
19  * Foundation and appearing in the file LICENSE.GPL3 included in the
20  * packaging of this file. Please review the following information to
21  * ensure the GNU General Public License version 3.0 requirements will be
22  * met: http://www.gnu.org/copyleft/gpl.html.
23  * Alternatively you may (at your option) use any later version of the GNU
24  * General Public License if such license has been publicly approved by
25  * MLAB and NICR (or its successors, if any).
26  *
27  * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
28  * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
29  * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
30  * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31  *
32  * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
33  * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
34  * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
35  * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
36  * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
37  */
38 
47 #ifndef _MIRA_AUTHORITYRUNTIME_H_
48 #define _MIRA_AUTHORITYRUNTIME_H_
49 
50 #include <fw/DispatcherThread.h>
51 
52 namespace mira {
53 
55 
66 {
67 public:
68 
72  AuthorityRuntime(const std::string& name = "");
73 
75 
76 public:
77 
81  void start();
82 
83 public:
84 
89  return mMainDispatcher;
90  }
91 
92 private:
94  DispatcherThread mMainDispatcher;
95 };
96 
98 typedef boost::shared_ptr<AuthorityRuntime> AuthorityRuntimePtr;
99 
101 
102 } // namespace
103 
104 #endif
Dispatcher class that allows registration of handler functions that need to be called from within the...
#define MIRA_FRAMEWORK_EXPORT
Definition: FrameworkExports.h:61
boost::shared_ptr< AuthorityRuntime > AuthorityRuntimePtr
Pointer of AuthorityRuntime.
Definition: AuthorityRuntime.h:98
Class that can be used whenever you want to have ONE thread where several handlers are assigned to...
Definition: DispatcherThread.h:131
This class contains threading functionality that can be shared among different authorities so that al...
Definition: AuthorityRuntime.h:65
DispatcherThread & getMainDispatcher()
Returns the main dispatcher (thread) of the runtime.
Definition: AuthorityRuntime.h:88