Configurator.hpp

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

                        Configurator.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         *
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 *   version 2 of the License.                                             *
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 *   instantiate templates or use macros or inline functions from this     *
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 ***************************************************************************/


#ifndef ORO_CONFIGURATOR_HPP
#define ORO_CONFIGURATOR_HPP

#include "ConfigurationInterface.hpp"
#include "PeriodicActivity.hpp"
#include "TimeService.hpp"
#include "Time.hpp"

namespace RTT
{
    class RTT_API Configurator
        : protected PeriodicActivity
    {
    public:
        Configurator( double period )
            :PeriodicActivity(RTT::OS::LowestPriority, period ), mtarget(0), status (false)
        {
        }

        bool configure( ConfigurationInterface* target, Seconds _timeout = 0 )
        {
            mtarget = target;
            TimeService::ticks timestamp = TimeService::Instance()->getTicks();
            this->start();

            while ( this->isRunning() && ( _timeout == 0 ||
                                           TimeService::Instance()->secondsSince(timestamp) < _timeout ) )
                {
                    struct timespec tt;
                    tt.tv_nsec=100*1000*1000; // 0.1 Hz
                    tt.tv_sec =0;
                    nanosleep(&tt, 0);
                }

            this->stop();

            return status;
        }

        ConfigurationInterface* configTarget() const
        {
            return mtarget;
        }

        bool initialize()
        {
            mtarget->configInit();
            return true;
        }

        void step()
        {
            if ( !mtarget->configStep() || mtarget->isFinished() )
                this->stop();
        }

        void finalize()
        {
            status = mtarget->isFinished();
            mtarget->configCleanup();
        }

    protected:
        ConfigurationInterface* mtarget;

        bool status;
    };

}


#endif