Vehicle-cpp/Nav/autoware.ai/install/sick_ldmrs_driver/include/sick_ldmrs/manager.hpp

//
// manager.hpp
//

#ifndef MANAGER_HPP
#define MANAGER_HPP

#include "BasicDatatypes.hpp"
#include "tools/SickThread.hpp"
#include "tools/BasicDataBuffer.hpp"
#include "devices/BasicDevice.hpp"
#include "application/BasicApplication.hpp"
#include <vector>  // for std::vector

//
// The Manager.
//
class Manager
{
public:
  /// Default constructor.
  Manager();

  /// Destructor.
  ~Manager();
  
  bool addApplication(Sourcetype appType, std::string appName, UINT16 wantedId = 0xFFFF);
  bool addApplication(application::BasicApplication* app, UINT16 wantedId = 0xFFFF);
  bool addAndRunDevice(Sourcetype deviceType, std::string deviceName, UINT16 wantedId = 0xFFFF);
  bool addAndRunDevice(devices::BasicDevice* device, std::string deviceName, UINT16 wantedId = 0xFFFF);
  bool importApplications();
  bool runAllDevices();
  void stopAllDevices();
  void setDeviceData(BasicData* data);  // Datenquelle: Hier laden die Devices ihre Daten ab
  devices::BasicDevice* getDeviceById(UINT32 id);
  devices::BasicDevice* getFirstDeviceByType(Sourcetype type);

private:
  bool m_beVerbose;
  UINT16 getNextSourceId();
  UINT16 m_nextSourceId;    // Die als naechstes verwendete ID

  // Die Devices
  typedef std::vector<devices::BasicDevice*> DeviceList;
  DeviceList m_deviceList;
  
  // The applications
  typedef std::vector<application::BasicApplication*> ApplicationList;
  ApplicationList m_appList;
  
  // The buffer of the source
  BasicDataBuffer m_sourceBuffer;
  void sourceThreadFunction(bool& endThread, UINT16& waitTimeMs);    // Die Verteiler-Funktion
  SickThread<Manager, &Manager::sourceThreadFunction> m_sourceThread;  // Der Verteiler-Thread
  Mutex m_sourceBufferMutex;                        // Zugriffsschutz des Source-Buffers
};


#endif  // #ifndef MANAGER_HPP