nodes.h

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/* 
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * 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 __PERCEPTIVEMODELS_NODES_H__
#define __PERCEPTIVEMODELS_NODES_H__
 
#include <map>
#include <ostream>
 
#include <yarp/os/Value.h>
#include <yarp/os/Property.h>
 
#include <iCub/perception/sensors.h>
 
 
namespace iCub
{
 
namespace perception
{
 
class EventCallback
{
protected:
    std::string name;
 
public:
    EventCallback();
 
    std::string getName() const
    {
        return name;
    }
 
    virtual void execute(void* ptr) = 0;
};
 
 
class Node
{
protected:
    std::string name;
 
    std::map<std::string,Sensor*>        sensors;
    std::map<std::string,EventCallback*> callbacks;
    std::map<std::string,Node*>          neighbors;
 
public:
    Node();
 
    std::string getName() const
    {
        return name;
    }
 
    void attachSensor(Sensor &sensor);
 
    void attachCallback(EventCallback &callback);
 
    void addNeighbor(Node &node);
 
    bool removeNeighbor(const std::string &name);
 
    Node* getNeighbor(const std::string &name) const;
 
    virtual bool fromProperty(const yarp::os::Property &options) = 0;
 
    virtual void toProperty(yarp::os::Property &options) const = 0;
 
    virtual bool toStream(std::ostream &str) const = 0;
 
    virtual bool calibrate(const yarp::os::Property &options) = 0;
 
    virtual bool isCalibrated() const = 0;
 
    virtual bool getSensorsData(yarp::os::Value &data) const = 0;
 
    virtual bool getOutput(yarp::os::Value &out) const = 0;
 
    virtual ~Node() { }
};
 
 
}
 
}
 
#endif