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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_MAILBOX_HH |
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#define __SOT_MAILBOX_HH |
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/* --- SOT PLUGIN --- */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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/* --- BOOST --- */ |
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#include <boost/thread/mutex.hpp> |
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#include <boost/thread/thread.hpp> |
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#include <boost/thread/xtime.hpp> |
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/* --- STD --- */ |
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#include <time.h> |
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#ifndef WIN32 |
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#include <sys/time.h> |
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#else |
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#include <sot/core/utils-windows.hh> |
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#endif /*WIN32*/ |
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#include <string> |
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namespace dynamicgraph { |
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namespace sot { |
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namespace dg = dynamicgraph; |
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template <class Object> |
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struct MailboxTimestampedObject { |
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Object obj; |
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struct timeval timestamp; |
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}; |
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template <class Object> |
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class Mailbox : public dg::Entity { |
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public: |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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public: |
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typedef MailboxTimestampedObject<Object> sotTimestampedObject; |
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public: |
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Mailbox(const std::string &name); |
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~Mailbox(void); |
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void post(const Object &obj); |
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sotTimestampedObject &get(sotTimestampedObject &res, const int &dummy); |
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Object &getObject(Object &res, const int &time); |
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struct timeval &getTimestamp(struct timeval &res, const int &time); |
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bool hasBeenUpdated(void); |
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protected: |
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boost::timed_mutex mainObjectMutex; |
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Object mainObject; |
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struct timeval mainTimeStamp; |
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bool update; |
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public: /* --- SIGNALS --- */ |
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dynamicgraph::SignalTimeDependent<sotTimestampedObject, int> SOUT; |
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dynamicgraph::SignalTimeDependent<Object, int> objSOUT; |
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dynamicgraph::SignalTimeDependent<struct timeval, int> timeSOUT; |
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}; |
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} /* namespace sot */ |
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template <class Object> |
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struct signal_io<sot::MailboxTimestampedObject<Object> > |
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: signal_io_unimplemented<sot::MailboxTimestampedObject<Object> > {}; |
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template <> |
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struct signal_io<timeval> : signal_io_unimplemented<timeval> {}; |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_MAILBOX_HH |