ocra-wbi-plugins/ocra-icub-server/include/ocra-icub-server/Module.h

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/*
 *  This file is part of ocra-icub.
 *  Copyright (C) 2016 Institut des Systèmes Intelligents et de Robotique (ISIR)
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef OCRA_CONTROLLER_SERVER_MODULE_H
#define OCRA_CONTROLLER_SERVER_MODULE_H

#include <iostream>
#include <memory>
#include <algorithm>
#include <locale>

#include <yarp/os/RFModule.h>

#include <yarpWholeBodyInterface/yarpWholeBodyInterface.h>
#include "ocra-icub-server/Thread.h"
#include "ocra-icub/Utilities.h"


class Module: public yarp::os::RFModule
{
// CLASS_POINTER_TYPEDEFS(Module)

public:
    Module();

    ~Module();

    bool configure(yarp::os::ResourceFinder &rf); // configure all the module parameters and return true if successful

    bool interruptModule(); // interrupt, e.g., the ports

    bool close();

    bool updateModule();

    void printHelp();

private:
    std::shared_ptr<Thread> ctrlThread; 
    // Thread* ctrlThread; /*!< The controller thread. This is where the magic happens. */
    // Thread ctrlThread; /*!< The controller thread. This is where the magic happens. */
    std::shared_ptr<wbi::wholeBodyInterface> robotInterface; 
    yarp::os::Log yLog; 
    OcraControllerOptions controller_options; 
    double avgTime; 
    double stdDev; 
    double avgTimeUsed; 
    double stdDevUsed; 
    double dangerPeriodLoopTime; 
    static const int DEFAULT_THREAD_PERIOD = 10; 
};


#endif //OCRA_CONTROLLER_SERVER_MODULE_H