Fawkes API  Fawkes Development Version
naoqi_inifin.cpp
1 
2 /***************************************************************************
3  * naoqi_inifin.cpp - Fawkes NaoQiAspect initializer/finalizer
4  *
5  * Created: Thu May 12 15:54:02 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #include <core/threading/thread_finalizer.h>
25 #include <plugins/nao/aspect/naoqi_inifin.h>
26 
27 namespace fawkes {
28 
29 /** @class NaoQiAspectIniFin <plugins/nao/aspect/naoqi_inifin.h>
30  * NaoQiAspect initializer/finalizer.
31  * This initializer/finalizer will provide the NaoQi broker to threads
32  * with the NaoQiAspect.
33  * @author Tim Niemueller
34  */
35 
36 /** Constructor. */
37 NaoQiAspectIniFin::NaoQiAspectIniFin() : AspectIniFin("NaoQiAspect")
38 {
39 }
40 
41 void
42 NaoQiAspectIniFin::init(Thread *thread)
43 {
44  NaoQiAspect *naoqi_thread;
45  naoqi_thread = dynamic_cast<NaoQiAspect *>(thread);
46  if (naoqi_thread == NULL) {
47  throw CannotInitializeThreadException("Thread '%s' claims to have the "
48  "NaoQiAspect, but RTTI says it "
49  "has not. ",
50  thread->name());
51  }
52  if (!naoqi_broker_) {
53  throw CannotInitializeThreadException("NaoQi broker has not been set.");
54  }
55 
56  naoqi_thread->init_NaoQiAspect(naoqi_broker_);
57 }
58 
59 void
60 NaoQiAspectIniFin::finalize(Thread *thread)
61 {
62 }
63 
64 /** Set the NaoQi broker to use for aspect initialization.
65  * @param naoqi_broker NaoQi broker to pass to threads with NaoQiAspect.
66  */
67 void
68 NaoQiAspectIniFin::set_naoqi_broker(AL::ALPtr<AL::ALBroker> naoqi_broker)
69 {
70  naoqi_broker_ = naoqi_broker;
71 }
72 
73 } // end namespace fawkes
fawkes::NaoQiAspectIniFin::finalize
virtual void finalize(Thread *thread)
Definition: naoqi_inifin.cpp:66
fawkes::NaoQiAspect
Definition: naoqi.h:41
fawkes::CannotInitializeThreadException
Definition: thread_initializer.h:39
fawkes::NaoQiAspectIniFin::init
virtual void init(Thread *thread)
Definition: naoqi_inifin.cpp:48
fawkes
fawkes::NaoQiAspectIniFin::set_naoqi_broker
void set_naoqi_broker(AL::ALPtr< AL::ALBroker > naoqi_broker)
Set the NaoQi broker to use for aspect initialization.
Definition: naoqi_inifin.cpp:74
fawkes::NaoQiAspectIniFin::NaoQiAspectIniFin
NaoQiAspectIniFin()
Constructor.
Definition: naoqi_inifin.cpp:43