Aquila  2.0 prealpha
Cognitive Robotics Architecture
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interface.h
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1 //##############################################################################################################################################################################################################//
2 //Aquila - An Open-Source GPU-Accelerated Toolkit for Cognitive and Neuro-Robotics Research //
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4 //Copyright (c) <2012>, Anthony Morse //
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20 
21 #ifndef INTERFACE_H
22 #define INTERFACE_H
23 
24 #include <yarp/os/all.h>
25 #include <string>
26 
27 using namespace yarp::os;
28 using namespace std;
29 
30 class ESN;
31 
32 class Interface : public yarp::os::RFModule
33 {
34 public:
35  Interface();
36 
37  void sendStatus(int status);
38  void sendMessage(string message);
39  void sendGpuList();
40  void sendParameters();
41  void sendActivity();
42  bool configure(ResourceFinder &rf);
43 
44 private:
45  ESN *esn;
46 
47  Port inputPort;
48  Port outputPort;
49  string moduleName;
50  string inputPortName;
51  string outputPortName;
52 
53  int instance;
54 
55  bool updateModule();
56  bool interruptModule();
57  bool close();
58  bool respond(const Bottle& command, Bottle& reply);
59 
60  double getPeriod();
61 };
62 
63 #endif//INTERFACE_H
64