CommandInterface.h

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#ifndef COMMANDINTERFACE_H
#define COMMANDINTERFACE_H
 
#include "Sensors/SensorBoard.h"
#include "Utility/Thread.h"
 
#include "IOChannel/IOChannel.h"
 
#include <string>
 
#include <map>
 
namespace SocCamera
{
    class tcPIDControl;
 
    class tcCommandInterface: public tcThread
    {
    public:
        tcCommandInterface (const char *ifacename, tcSensorBoard* apSensor, tcIOChannel *apChannel);
 
        virtual ~tcCommandInterface();
 
        void initializeCommandHandlers();
 
    static std::string registerName(uint32_t anReg);
        virtual void getInput(std::string *apStringOutput) = 0;
 
        virtual std::string parseInput(std::string &arStringOutput) = 0;
 
        virtual void respond(std::string ahResponse) = 0;
 
        virtual void finish(std::string &arOriginalBuffer) = 0;
 
        virtual void* run();
 
        virtual void addTEC(tcPIDControl *apPID);
 
        tcAbstractHandler* getChain(void) { return gpChainHead; }
 
        tcAbstractHandler* getHandler(std::string name) { return mcStringMap[name]; }
 
    protected:
        std::string   m_ifacename;   // Human name for interface for debugging, should be short to keep log messages short.
 
        tcSensorBoard *mpSensor;
 
        static tcAbstractHandler *gpChainHead;
        static tcAbstractHandler *gpChainTail;
 
        tcIOChannel *mpChannel;
 
        static std::map<std::string, tcAbstractHandler*> mcStringMap;
 
        static tcMutex chain_initializer;
 
    private:
        static bool sensor_initialized;
        static bool chain_initialized;
        void initialize_chain();
        void initialize_sensor_specific();
        void initialize_channel_specific();
 
    protected:
        void Report      (const char* fmt, ...);
        void ReportError (const char* fmt, ...);
    };
 
}
 
#endif // COMMANDINTERFACE_H