mtsManagerComponentBase.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):  Anton Deguet, Min Yang Jung, Peter Kazanzides
  Created on: 2010-08-29
 
  (C) Copyright 2010-2026 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 
#ifndef _mtsManagerComponentBase_h
#define _mtsManagerComponentBase_h
 
#include <cisstMultiTask/mtsTaskFromSignal.h>
#include <cisstMultiTask/mtsInterfaceProvided.h>
#include <cisstMultiTask/mtsInterfaceRequired.h>
#include <cisstMultiTask/mtsParameterTypes.h>
 
// Always include last
#include <cisstMultiTask/mtsExport.h>

 
class CISST_EXPORT mtsManagerComponentBase : public mtsTaskFromSignal
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
public:
    class CISST_EXPORT ComponentNames {
    public:
        const static std::string ManagerComponent;
        const static std::string ManagerLocal;
    };

    class CISST_EXPORT InterfaceNames {
    public:
        // Internal interfaces for dynamic component services
        const static std::string InterfaceInternalProvided;
        const static std::string InterfaceInternalRequired;
        const static std::string InterfaceComponentProvided;
        const static std::string InterfaceComponentRequired;
        // Interface for system-wide thread-safe logging
        const static std::string InterfaceSystemLoggerProvided;
        const static std::string InterfaceSystemLoggerRequired;
        // Interfaces for sharing execution threads between tasks
        const static std::string InterfaceExecIn;
        const static std::string InterfaceExecOut;
    };

    class CISST_EXPORT CommandNames {
    public:
        // Dynamic component management
        const static std::string ComponentCreate;
        const static std::string ComponentAdd;
        const static std::string ComponentRemove;
        const static std::string ComponentGet;
        const static std::string ComponentConfigure;
        const static std::string ComponentConnect;
        const static std::string ComponentDisconnect;
        const static std::string ComponentStart;
        const static std::string ComponentStop;
        const static std::string ComponentResume;
        const static std::string ComponentGetState;
        const static std::string LoadLibrary;  // dynamic loading
        // Logging
        const static std::string PrintLog;
        // Getters
        const static std::string GetNamesOfProcesses;
        const static std::string GetNamesOfComponents;
        const static std::string GetDescriptionsOfComponents;
        const static std::string GetNamesOfInterfaces;
        const static std::string GetDescriptionsOfInterfaces;
        const static std::string GetListOfConnections;
        const static std::string GetListOfComponentClasses;
        const static std::string GetInterfaceProvidedDescription;
        const static std::string GetInterfaceRequiredDescription;
        // Get absolute time for each process
        const static std::string GetAbsoluteTimeInSeconds;
        // Establishing connections
        const static std::string GetEndUserInterface;
        const static std::string AddObserverList;
        const static std::string RemoveEndUserInterface;
        const static std::string RemoveObserverList;
    };

    class CISST_EXPORT EventNames {
    public:
        // Events
        const static std::string AddComponent;
        const static std::string AddConnection;
        const static std::string RemoveConnection;
        const static std::string ChangeState;
        const static std::string PrintLog;
    };
 
    mtsManagerComponentBase(const std::string & componentName);
    virtual ~mtsManagerComponentBase();
 
    static bool IsManagerComponent(const std::string & componentName);
    static bool IsNameOfInternalInterface(const std::string & interfaceName);
 
    static bool IsNameOfInterfaceComponentRequired(const std::string & interfaceName);
    static bool IsNameOfInterfaceComponentProvided(const std::string & interfaceName);
    static bool IsNameOfInterfaceInternalRequired(const std::string & interfaceName);
    static bool IsNameOfInterfaceInternalProvided(const std::string & interfaceName);
 
    static const std::string GetNameOfManagerComponent(void);
    static const std::string GetNameOfInterfaceComponentRequiredFor(const std::string & componentName);
    static const std::string GetNameOfInterfaceComponentProvided(void);
    static const std::string GetNameOfInterfaceInternalRequired(void);
    static const std::string GetNameOfInterfaceInternalProvided(void);
 
    // mtsTask implementation
    void Run(void) override;
    void Cleanup(void) override;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsManagerComponentBase);
 
#endif // _mtsManagerComponentBase_h