MicroUnit.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#ifndef _MIRA_MICROUNIT_H_
#define _MIRA_MICROUNIT_H_

#include <serialization/Serialization.h>
#include <serialization/GetterSetter.h>

#include <fw/Framework.h>

namespace mira {


class Unit;

class MicroUnit : public Object, public Authority
{
    MIRA_OBJECT(MicroUnit)
public:

    friend class Unit;

    MicroUnit(Flags flags = NORMAL) :
        Authority(flags),
        mNeedRecover(false),
        mRecoverInterval(Duration::seconds(1))
    {}

    virtual ~MicroUnit();

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, Authority);
        r.property("RecoverInterval", mRecoverInterval,
                   "The interval for trying to recover", Duration::seconds(1));
    }

    virtual void checkin(const std::string& ns, const std::string& name);

    virtual void checkin(Authority& parent, const std::string& ns,
                         const std::string& name);

    void setPropertyNode(boost::shared_ptr<PropertyNode> node);

    virtual boost::shared_ptr<PropertyNode> getProperties();

    virtual void start();

    virtual void stop();


    virtual void destruct();

protected:


    virtual void initialize() {}

    virtual void resume() {}

    virtual void pause() {}

    virtual void finalize() {}

    virtual void needRecovery(const std::string& reason = "");

    virtual void operational();

    virtual void recover() {};

    bool inRecoveryMode() const { return mNeedRecover; }


protected:

    void initializeIntern();

    void recoverIntern(const Timer& timer);

protected:
    RootPropertyNode mPropertiesRoot;

private:

    void setup();

    boost::shared_ptr<PropertyNode> mProperties;

    bool mNeedRecover;
    Duration mRecoverInterval;
};


typedef boost::shared_ptr<MicroUnit> MicroUnitPtr;


}

#endif