UnitManager.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
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_UNITMANAGER_H_
#define _MIRA_UNITMANAGER_H_

#include <tuple>

#include <fw/MicroUnit.h>

namespace mira {


class UnitManager
{
public:

    ~UnitManager();

    std::string addThreadGroup(const ResourceName& ns, const std::string& name);

    void addUnit(MicroUnitPtr unit, const std::string& ns,
                 const std::string& name, const std::string& threadGroup = "",
                 bool startAtInit=true);

    void removeUnit(const std::string& id);

    MicroUnitPtr getUnit(const std::string& id);

    void initializeUnits();

    void startUnits();

    void stopUnits(bool destruct=false);

protected:
    // each tuple contains 1. the shared pointer to the micro unit
    //                     2. the namespace of the unit as string
    //                     3. the name of the unit as string
    //                     4. the name of the thread group if any
    //                     5. flag if unit shall be started after initialization
    typedef std::tuple<MicroUnitPtr, std::string, std::string, std::string, bool> UnitEntry;
    typedef std::list<UnitEntry> UnitList;
    UnitList mUnits;
    std::map<std::string, boost::shared_ptr<Authority>> mThreadGroups;
    mutable boost::mutex mUnitsMutex;
};


}

#endif