IMachineLearnerModule.h

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/*
 * Copyright (C) 2007-2010 RobotCub Consortium, European Commission FP6 Project IST-004370
 * author:  Arjan Gijsberts
 * email:   arjan.gijsberts@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * 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
 */
 
#ifndef LM_IMACHINELEARNERMODULE__
#define LM_IMACHINELEARNERMODULE__
 
#include <yarp/os/RFModule.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Time.h>
 
#include "iCub/learningMachine/DispatcherManager.h"
 
 
namespace iCub {
namespace learningmachine {
 
class IMachineLearnerModule : public yarp::os::RFModule {
protected:
    yarp::os::Port cmd_in;
 
    std::string portPrefix;
 
    DispatcherManager dmanager;
 
    yarp::os::ResourceFinder* rf;
 
    IMachineLearnerModule(const IMachineLearnerModule& other);
 
    IMachineLearnerModule& operator=(const IMachineLearnerModule& other);
 
    void registerPort(yarp::os::Contactable& port, std::string name);
 
    virtual void registerAllPorts() = 0;
 
    virtual void unregisterAllPorts() = 0;
 
    virtual void printOptions(std::string error = "") = 0;
 
    virtual void loadCommandFile(std::string fname, yarp::os::Bottle* out = (yarp::os::Bottle*) 0);
 
    virtual yarp::os::ResourceFinder& getResourceFinder() {
        if(this->rf == (yarp::os::ResourceFinder*) 0) {
            throw std::runtime_error("Attempt to retrieve inexistent resource finder.");
        }
        return *(this->rf);
    }
 
    std::string findFile(std::string fname);
 
    virtual void setResourceFinder(yarp::os::ResourceFinder* rf) {
        this->rf = rf;
    }
 
public:
    IMachineLearnerModule(std::string pp) : portPrefix(pp), rf((yarp::os::ResourceFinder*) 0) { }
 
    virtual ~IMachineLearnerModule() { }
 
    virtual bool close();
 
    virtual bool updateModule() {
        yarp::os::Time::delay(1.);
        return true;
    }
 
};
 
} // learningmachine
} // iCub
 
#endif