iLab Neuromorphic Robotics Toolkit  0.1
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
ModuleBase.H
Go to the documentation of this file.
1 /*! @file
2  @author Laurent Itti
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifndef INCLUDE_NRT_CORE_BLACKBOARD_MODULEBASE_H
36 #define INCLUDE_NRT_CORE_BLACKBOARD_MODULEBASE_H
37 
38 #include <boost/thread/shared_mutex.hpp> // for shared_mutex, shared_lock and friends
39 
40 namespace nrt
41 {
42  class ModuleBase;
43 
44  // ######################################################################
45  //! Type for Module unique ID data
46  /*! This used internally by Blackboard to keep track of modules across distributed systems. Each ModuleUID is unique
47  across the entire Blackboard federation. It is un-necessary to specify a module by both the BlackboardUID the
48  module is on and the ModuleUID; only the ModuleUID is sufficient.
49 
50  \ingroup module */
51  struct ModuleUID
52  {
53  //! Constructor
54  ModuleUID(ModuleBase const *mid);
55 
56  //! Equality test
57  bool operator==(nrt::ModuleUID const & other) const;
58 
59  //! As a string for printing debug messages
60  std::string const & str() const;
61 
62  private:
63  long const hostID;
64  pid_t const procID;
65  ModuleBase const * const modID;
66  std::string const strID; // the ID as a string for display/debug
67  };
68 
69  // ######################################################################
70  //! Base class for Module
71  /*! A Module is a Component that can post/receive/check Message through a Blackboard
72  \ingroup module */
73  class ModuleBase
74  {
75  public:
76  //! Constructor
77  ModuleBase();
78 
79  //! Virtual destructor for safe inheritance
80  virtual ~ModuleBase();
81 
82  //! Get our unique ID which will be used to track Module objects in distributed systems
83  ModuleUID const & uid() const;
84 
85  //! Get the module's namespace
86  /*! Note that setNamespace() and changeNamespace() are implemented in nrt::Module as they recurse through the
87  sub-modules. */
88  std::string getNamespace() const;
89 
90  //! Set the logical path for this module, as categ/subcat/.../classname
91  /*! You should at least set it to classname if you don't know where the module came from. */
92  void setLogicalPath(std::string const & lp);
93 
94  //! Get the logical path for this module, as categ/subcat/.../classname
95  std::string getLogicalPath() const;
96 
97  protected:
98  mutable boost::shared_mutex itsNamespaceMtx;
99  std::string namespc;
100  std::string logicalpath;
101 
102  private:
103  ModuleUID const itsUID;
104  };
105 
106 }
107 
108 #endif // INCLUDE_NRT_CORE_BLACKBOARD_MODULEBASE_H
109