Directory: | ./ |
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File: | include/sot/core/mailbox.hxx |
Date: | 2024-08-13 12:13:25 |
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Lines: | 37 | 45 | 82.2% |
Branches: | 29 | 58 | 50.0% |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | #ifndef __SOT_MAILBOX_T_CPP | ||
11 | #define __SOT_MAILBOX_T_CPP | ||
12 | |||
13 | #include <sot/core/mailbox.hh> | ||
14 | |||
15 | namespace dynamicgraph { | ||
16 | namespace sot { | ||
17 | |||
18 | /* -------------------------------------------------------------------------- */ | ||
19 | /* --- CONSTRUCTION --------------------------------------------------------- */ | ||
20 | /* -------------------------------------------------------------------------- */ | ||
21 | template <class Object> | ||
22 | 1 | Mailbox<Object>::Mailbox(const std::string &name) | |
23 | : Entity(name), | ||
24 | 1 | mainObjectMutex(), | |
25 |
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1 | mainObject(), |
26 | 1 | update(false) | |
27 | |||
28 | , | ||
29 |
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1 | SOUT(boost::bind(&Mailbox::get, this, _1, _2), sotNOSIGNAL, |
30 | "Mailbox(" + name + ")::output(Object)::sout"), | ||
31 |
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1 | objSOUT(boost::bind(&Mailbox::getObject, this, _1, _2), SOUT, |
32 | "Mailbox(" + name + ")::output(Object)::object"), | ||
33 |
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1 | timeSOUT(boost::bind(&Mailbox::getTimestamp, this, _1, _2), SOUT, |
34 |
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1 | "Mailbox(" + name + ")::output(Object)::timestamp") { |
35 |
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1 | signalRegistration(SOUT << objSOUT << timeSOUT); |
36 | 1 | SOUT.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT); | |
37 | 1 | } | |
38 | |||
39 | template <class Object> | ||
40 | ✗ | Mailbox<Object>::~Mailbox(void) { | |
41 | ✗ | boost::timed_mutex::scoped_lock lockMain(mainObjectMutex); | |
42 | } | ||
43 | |||
44 | /* -------------------------------------------------------------------------- */ | ||
45 | /* --- ACCESS --------------------------------------------------------------- */ | ||
46 | /* -------------------------------------------------------------------------- */ | ||
47 | template <class Object> | ||
48 | 250 | bool Mailbox<Object>::hasBeenUpdated(void) { | |
49 |
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250 | boost::timed_mutex::scoped_try_lock lockMain(this->mainObjectMutex); |
50 | |||
51 |
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250 | if (lockMain.owns_lock()) { |
52 | 250 | return update; | |
53 | } else { | ||
54 | ✗ | return false; | |
55 | } | ||
56 | 250 | } | |
57 | |||
58 | /* -------------------------------------------------------------------------- */ | ||
59 | template <class Object> | ||
60 | 250 | typename Mailbox<Object>::sotTimestampedObject &Mailbox<Object>::get( | |
61 | typename Mailbox<Object>::sotTimestampedObject &res, | ||
62 | const int & /*dummy*/) { | ||
63 |
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250 | boost::timed_mutex::scoped_try_lock lockMain(this->mainObjectMutex); |
64 | |||
65 |
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250 | if (lockMain.owns_lock()) { |
66 | 250 | res.timestamp.tv_sec = this->mainTimeStamp.tv_sec; | |
67 | 250 | res.timestamp.tv_usec = this->mainTimeStamp.tv_usec; | |
68 | |||
69 | 250 | update = false; | |
70 |
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250 | res.obj = this->mainObject; |
71 | } | ||
72 | |||
73 | 250 | return res; | |
74 | 250 | } | |
75 | |||
76 | /* -------------------------------------------------------------------------- */ | ||
77 | template <class Object> | ||
78 | 250 | void Mailbox<Object>::post(const Object &value) { | |
79 |
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250 | boost::timed_mutex::scoped_lock lockMain(this->mainObjectMutex); |
80 |
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250 | mainObject = value; |
81 | 250 | gettimeofday(&this->mainTimeStamp, NULL); | |
82 | 250 | update = true; | |
83 | 250 | SOUT.setReady(); | |
84 | |||
85 | 500 | return; | |
86 | 250 | } | |
87 | |||
88 | template <class Object> | ||
89 | 250 | Object &Mailbox<Object>::getObject(Object &res, const int &time) { | |
90 | 250 | const sotTimestampedObject &data = SOUT(time); | |
91 | 250 | res = data.obj; | |
92 | 250 | return res; | |
93 | } | ||
94 | |||
95 | template <class Object> | ||
96 | ✗ | timeval &Mailbox<Object>::getTimestamp(struct timeval &res, const int &time) { | |
97 | ✗ | const sotTimestampedObject &data = SOUT(time); | |
98 | ✗ | res.tv_sec = data.timestamp.tv_sec; | |
99 | ✗ | res.tv_usec = data.timestamp.tv_usec; | |
100 | ✗ | return res; | |
101 | } | ||
102 | |||
103 | } /* namespace sot */ | ||
104 | } /* namespace dynamicgraph */ | ||
105 | /* Macro for template specialization */ | ||
106 | #ifndef WIN32 | ||
107 | #define MAILBOX_TEMPLATE_SPE(S) \ | ||
108 | namespace dynamicgraph { \ | ||
109 | namespace sot { \ | ||
110 | template void Mailbox<S>::post(const S &obj); \ | ||
111 | template dynamicgraph::Vector &Mailbox<S>::getObject(S &res, \ | ||
112 | const int &time); \ | ||
113 | template bool Mailbox<S>::hasBeenUpdated(void); \ | ||
114 | template Mailbox<S>::~Mailbox(); \ | ||
115 | template Mailbox<S>::sotTimestampedObject &Mailbox<S>::get( \ | ||
116 | Mailbox<S>::sotTimestampedObject &res, const int &dummy); \ | ||
117 | template Mailbox<S>::Mailbox(const std::string &name); \ | ||
118 | } \ | ||
119 | } // namespace sot namespace dynamicgraph | ||
120 | #endif // WIN32 | ||
121 | |||
122 | #endif // #ifdef __SOT_MAILBOX_T_CPP | ||
123 |