YarpDataFeedSetupTask.hpp

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/*
Copyright 2007, 2008, 2009, 2010, 2011 Instituto de Sistemas e Robotica, Instituto Superior Tecnico

This file is part of MeRMaID.

MeRMaID is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

MeRMaID 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 Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with MeRMaID.  If not, see <http://www.gnu.org/licenses/>.
*/



/**
 * @Filename YarpDataFeedSetupTask.hpp
 * @Description YarpDataFeedSetupTask declaration
 * @Status Work in Progress
 * @Version $Id: YarpDataFeedSetupTask.hpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer Bruno Nery (bnery@isr.ist.utl.pt)
 */

#ifndef __COMMUNICATION_YARPDATAFEEDSETUPTASK_H
#define __COMMUNICATION_YARPDATAFEEDSETUPTASK_H

#ifdef USE_COMM

#include "YarpDataFeedInputPort.hpp"

#include <ActiveObject.hpp>
#include <Task.hpp>
#include <ServiceReply.hpp>

namespace mermaid
{
  namespace support
  {
    namespace communication
    {
      using mermaid::support::activeobject::ActiveObject;
      using mermaid::support::activeobject::Task;
      using mermaid::support::service::ServiceReply;
      
      
      /**
       * @Class YarpDataFeedSetupTask YarpDataFeedSetupTask.hpp "YarpDataFeedSetupTask.hpp"
       * @Description YarpDataFeedSetupTask class.
       * @Author Bruno Nery
       */
      class YarpDataFeedSetupTask : public Task
      {
        public:
        
          YarpDataFeedSetupTask (shared_ptr<Service> requesterService, std::string producerEntityName,
                                 std::string producerServiceName, std::string dataFeedName, shared_ptr<ActiveObject> ao);
                                 
          virtual void run();
          
          void treatCommReply (shared_ptr<ServiceReply> reply);
          
        private:
          shared_ptr<Service> requesterService_;
          std::string producerEntityName_;
          std::string producerServiceName_;
          std::string dataFeedName_;
          shared_ptr<ActiveObject> activeObject_;
          
      }; // class YarpDataFeedSetupTask
    } // namespace communication
  } // namespace support
} // namespace mermaid

#endif // USE_COMM

#endif // __COMMUNICATION_YARPDATAFEEDSETUPTASK_H