SyncPeriodicThread.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __SYNC_PERIODIC_THREAD_HPP__
#define __SYNC_PERIODIC_THREAD_HPP__
 
#include <string>
#include <vector>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Port.h>
#include <yarp/os/PortWriterBuffer.h>
 
#include "FutureTask.hpp"
#include "SingleBusBroker.hpp"
#include "StateObserver.hpp"
 
namespace roboticslab
{
 
class SyncPeriodicThread final : public yarp::os::PeriodicThread
{
public:
    SyncPeriodicThread(std::vector<SingleBusBroker *> & brokers, FutureTaskFactory * taskFactory);
 
    ~SyncPeriodicThread() override;
 
    bool openPort(const std::string & name);
 
    void setObserver(TypedStateObserver<double> * syncObserver)
    { this->syncObserver = syncObserver; }
 
    void run() override;
 
private:
    std::vector<SingleBusBroker *> & brokers;
    FutureTaskFactory * taskFactory;
    TypedStateObserver<double> * syncObserver;
    yarp::os::Port syncPort;
    yarp::os::PortWriterBuffer<yarp::os::Bottle> syncWriter;
};
 
} // namespace roboticslab
 
#endif // __SYNC_PERIODIC_THREAD_HPP__