application_base.h

// Copyright 2009-2018 Toby Schneider (http://gobysoft.org/index.wt/people/toby)
//                     GobySoft, LLC (2013-)
//                     Massachusetts Institute of Technology (2007-2014)
//                     Community contributors (see AUTHORS file)
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they 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 Goby.  If not, see <http://www.gnu.org/licenses/>.

#ifndef MINIMALAPPLICATIONBASE20110413H
#define MINIMALAPPLICATIONBASE20110413H

#include <iostream>

#include <boost/shared_ptr.hpp>

#include "goby/common/configuration_reader.h"
#include "goby/common/exception.h"

#include "goby/common/protobuf/app_base_config.pb.h"

#include "goby/common/logger.h"

namespace goby
{

template <typename App, typename Config> int run(int argc, char* argv[], Config* cfg);

namespace common
{
class ApplicationBase
{
  public:
    ApplicationBase(google::protobuf::Message* cfg = 0);
    virtual ~ApplicationBase();

    void quit() { alive_ = false; }

    virtual void iterate() = 0;

    std::string application_name() { return base_cfg_->app_name(); }
    std::string platform_name() { return base_cfg_->platform_name(); }

    template <typename App, typename Config>
    friend int ::goby::run(int argc, char* argv[], Config* cfg);

    const AppBaseConfig& base_cfg() { return *base_cfg_; }

  private:
    // main loop that exits on disconnect. called by goby::run()
    void __run();

    void __set_application_name(const std::string& s) { base_cfg_->set_app_name(s); }
    void __set_platform_name(const std::string& s) { base_cfg_->set_platform_name(s); }

  private:
    // copies of the "real" argc, argv that are used
    // to give ApplicationBase access without requiring the subclasses of
    // ApplicationBase to pass them through their constructors
    static int argc_;
    static char** argv_;
    google::protobuf::Message* all_cfg_;

    // configuration relevant to all applications (loop frequency, for example)
    // defined in #include "proto/app_base_config.pb.h"
    AppBaseConfig* base_cfg_;
    bool own_base_cfg_;

    bool alive_;
    std::vector<boost::shared_ptr<std::ofstream> > fout_;
};
} // namespace common
} // namespace goby

template <typename App, typename Config> int goby::run(int argc, char* argv[], Config* cfg)
{
    // avoid making the user pass these through their Ctor...
    App::argc_ = argc;
    App::argv_ = argv;

    try
    {
        App app(cfg);
        app.__run();
    }
    catch (goby::common::ConfigException& e)
    {
        // no further warning as the ApplicationBase Ctor handles this
        return 1;
    }
    catch (std::exception& e)
    {
        // some other exception
        std::cerr << "uncaught exception: " << e.what() << std::endl;
        return 2;
    }

    return 0;
}

#endif