RPCHandler.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:
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 *   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.
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 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
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#ifndef _MIRA_RPCHANDLER_H_
#define _MIRA_RPCHANDLER_H_

#include <queue>

#include <fw/DispatcherThread.h>
#include <rpc/AbstractRPCHandler.h>

namespace mira {


class RPCHandler : public AbstractRPCHandler
{
public:

    class InvokerRunnable : public IRunnable
    {
    public:
        InvokerRunnable(RPCHandler* handler, AbstractDeferredInvokerPtr invoker) :
            mHandler(handler), mInvoker(invoker) {}

    protected:
        virtual void run(DispatcherThread* dispatcher);

    private:
        RPCHandler* mHandler;
        AbstractDeferredInvokerPtr mInvoker;
    };
    typedef boost::shared_ptr<InvokerRunnable> InvokerRunnablePtr;

    RPCHandler(DispatcherThread* dispatcher, DiagnosticsModulePtr module = NULL) :
        mDispatcher(dispatcher), mDiagnosticsModule(module) {}

    virtual void queueRequest(AbstractDeferredInvokerPtr invoker);

    virtual boost::thread::id getThreadID() const {
        return mDispatcher->getThreadID();
    }

    DiagnosticsModulePtr getDiagnosticsModule() { return mDiagnosticsModule; }

private:
    DispatcherThread* mDispatcher;
    DiagnosticsModulePtr mDiagnosticsModule;
};

typedef boost::shared_ptr<RPCHandler> RPCHandlerPtr;


} // namespace

#endif