sim.h

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//-*-c++-*-
#ifndef INCLUDED_sim_h_
#define INCLUDED_sim_h_

#include "Events/EventTranslator.h"
#include "IPC/MessageQueue.h"
#include "SharedGlobals.h"
#include "IPC/SharedObject.h"
#include "IPC/Thread.h"
#include "Wireless/Wireless.h"
#include "Shared/ProjectInterface.h"
#include <vector>
#include <termios.h>
class SimConfig;

class sim {
  template<typename T> friend struct PrimaryThread;
  friend int main(int argc, const char* argv[]);
public:
  sim();
  bool processCommandLine(int argc, const char* argv[]);
  bool run();
  ~sim();
  
  typedef MessageQueue<500> EventQueue_t;
  typedef MessageQueue<50> MotionCommandQueue_t;
  typedef MessageQueue<50> SoundPlayQueue_t;
  typedef MessageQueue<1> CameraQueue_t;
  typedef MessageQueue<1> SensorQueue_t;
  typedef MessageQueue<1> TimerWakeup_t;
  typedef MessageQueue<1> MotionWakeup_t;
  typedef MessageQueue<ProcessID::NumProcesses+1> StatusRequest_t;
  typedef MessageQueue<1> MotionOutput_t;
  typedef MessageQueue<50> MotionOutputPIDs_t;
  
  static SimConfig config;
  static IPCEventTranslator * etrans;
  static std::vector<std::string> cmdlineArgs;
  
protected:
  static unsigned int measure_usleep_cost();
  void wait_child();
  static void wait_runlevel(SharedGlobals::runlevel_t level);
  template<class T> static void manage_process();
  template<class T> static bool fork_process();
  
  static ProcessID::ProcessID_t getProcessID(); //!< ProcessID hook to use the thread group as the process ID
  static void setProcessID(ProcessID::ProcessID_t id); //!< ProcessID hook to set the thread group as the process ID
  
  static std::vector<Thread*> primaries;
  
  //! provides warning regarding configuration settings
  class ConfigErrorCheck : public plist::PrimitiveListener {
  public:
    ConfigErrorCheck();
    ~ConfigErrorCheck();
    virtual void plistValueChanged(const plist::PrimitiveBase& pl);
    void holdMultiprocess();
  protected:
    bool holdMPValue;
  };
  static ConfigErrorCheck cfgCheck;

  static unsigned int sim_get_time() { return globals?globals->get_time():0; }
  static float sim_getTimeScale() { return globals?globals->getTimeScale():0; }
  
  static int getTermFD();
  static void handle_signal(int sig);
  static void handle_exit();
  static void badExitCleanup();

  SharedObject<SemaphoreManager> mutexSemMgr;
  SharedObject<SharedGlobals> glob;
  SharedObject<ipc_setup_t> subj;
  static bool original;
  static const char * const usage;
  static pid_t child;
  static bool showRunlevels;
  static termios ttyMode;
  unsigned int srandSeed;
  int zigSeed1;
  int zigSeed2;
};

class WirelessThread : public Thread {
public:
  //! constructor
  WirelessThread() : Thread() {}
  //! destructor -- stop thread
  virtual ~WirelessThread() {
    if(isStarted()) {
      stop();
      join();
    }
  }
  virtual unsigned int runloop() {
    // initial setup done by wireless's own constructor
    wireless->pollTest(NULL); // by passing NULL, we wait indefinitely, so no need to usleep in the Thread code
    wireless->pollProcess();
    wireless->pollSetup(); // reinitialize for next test
    return 0; //no sleep time because pollTest blocks
  }
  virtual Thread& stop() {
    Thread::stop();
    wireless->wakeup();
    return *this;
  }
};


/*! @file
 * @brief 
 * @author ejt (Creator)
 */

#endif