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subsystemthread.h

00001 /*
00002  * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
00003  *               http://gearbox.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef GBXICEUTILACFR_SUBSYSTEM_THREAD_H
00012 #define GBXICEUTILACFR_SUBSYSTEM_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/thread.h>
00015 #include <gbxsickacfr/gbxutilacfr/substatus.h>
00016 #include <gbxsickacfr/gbxutilacfr/status.h>
00017 #include <gbxsickacfr/gbxutilacfr/tracer.h>
00018 
00019 namespace gbxsickacfr {
00020 namespace gbxiceutilacfr {
00021 
00046 class SubsystemThread : public Thread
00047 {
00048 public:
00051     SubsystemThread( gbxutilacfr::Tracer& tracer, gbxutilacfr::Status& status, const std::string& subsysName="SubsystemThread" );
00052 
00053     // from IceUtil::Thread
00056     virtual void run();
00057 
00060     virtual void walk()=0;
00061 
00063     gbxutilacfr::SubStatus& subStatus() { return subStatus_; };
00064 
00066     std::string subsysName() const { return subStatus_.name(); };
00067 
00068 private:
00069     gbxutilacfr::Tracer& tracer_;
00070     gbxutilacfr::SubStatus subStatus_;
00071 };
00073 typedef IceUtil::Handle<SubsystemThread> SubsystemThreadPtr;
00074 
00075 }
00076 } // end namespace
00077 
00078 #endif
 

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