ReportingComponent.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:26 CET 2004  ReportingComponent.hpp

                        ReportingComponent.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef ORO_REPORTING_COMPONENT_HPP
#define ORO_REPORTING_COMPONENT_HPP


#include <boost/tuple/tuple.hpp>

#include <rtt/Property.hpp>
#include <rtt/PropertyBag.hpp>
#include <rtt/Marshaller.hpp>
#include <rtt/TimeService.hpp>
#include <rtt/TaskContext.hpp>

#include <rtt/RTT.hpp>

#include <ocl/OCL.hpp>

namespace OCL
{
    class ReportingComponent
        : public RTT::TaskContext
    {
    protected:
        bool screenImpl( const std::string& comp, std::ostream& output);
    public:

        typedef RTT::DataFlowInterface::Ports Ports;

        ReportingComponent( std::string name = "Reporting" );

        virtual ~ReportingComponent();

        bool addMarshaller( RTT::Marshaller* headerM, RTT::Marshaller* bodyM);

        bool removeMarshallers();

        virtual bool configureHook();

        virtual void cleanupHook();

        virtual bool screenComponent( const std::string& comp );

        bool reportComponent( const std::string& component );

        bool unreportComponent( const std::string& component );

        bool reportPort(const std::string& component, const std::string& port );

        bool unreportPort(const std::string& component, const std::string& port );

        bool reportData(const std::string& component,const std::string& dataname);

        bool unreportData(const std::string& component,const std::string& datasource);

        void snapshot();

        void cleanReport();

    protected:
        typedef boost::tuple<std::string,
                             RTT::DataSourceBase::shared_ptr,
                             boost::shared_ptr<RTT::CommandInterface>,
                             RTT::DataSourceBase::shared_ptr,
                             std::string> DTupple;
        typedef std::vector<DTupple> Reports;
        Reports root;

        bool reportDataSource(std::string tag, std::string type, RTT::DataSourceBase::shared_ptr orig);

        bool unreportDataSource(std::string tag);

        virtual bool startHook();

        void makeReport();

        virtual void updateHook();

        virtual void stopHook();

        typedef std::vector< std::pair<boost::shared_ptr<RTT::Marshaller>, boost::shared_ptr<RTT::Marshaller> > > Marshallers;
        Marshallers marshallers;
        RTT::PropertyBag report;

        RTT::Property<bool>          autotrigger;
        RTT::Property<std::string>   config;
        RTT::Property<bool>          writeHeader;
        RTT::Property<bool>          decompose;
        RTT::Property<bool>          synchronize_with_logging;
        RTT::Property<PropertyBag>   report_data;

        RTT::TimeService::ticks starttime;
        RTT::Property<RTT::TimeService::Seconds> timestamp;

    };

}

#endif

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