mailbox.hxx

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_MAILBOX_T_CPP
#define __SOT_MAILBOX_T_CPP
 
#include <sot/core/mailbox.hh>
 
namespace dynamicgraph {
namespace sot {
 
/* -------------------------------------------------------------------------- */
/* --- CONSTRUCTION --------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
template <class Object>
Mailbox<Object>::Mailbox(const std::string &name)
    : Entity(name),
      mainObjectMutex(),
      mainObject(),
      update(false)
 
      ,
      SOUT(boost::bind(&Mailbox::get, this, _1, _2), sotNOSIGNAL,
           "Mailbox(" + name + ")::output(Object)::sout"),
      objSOUT(boost::bind(&Mailbox::getObject, this, _1, _2), SOUT,
              "Mailbox(" + name + ")::output(Object)::object"),
      timeSOUT(boost::bind(&Mailbox::getTimestamp, this, _1, _2), SOUT,
               "Mailbox(" + name + ")::output(Object)::timestamp") {
  signalRegistration(SOUT << objSOUT << timeSOUT);
  SOUT.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
}
 
template <class Object>
Mailbox<Object>::~Mailbox(void) {
  boost::timed_mutex::scoped_lock lockMain(mainObjectMutex);
}
 
/* -------------------------------------------------------------------------- */
/* --- ACCESS --------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
template <class Object>
bool Mailbox<Object>::hasBeenUpdated(void) {
  boost::timed_mutex::scoped_try_lock lockMain(this->mainObjectMutex);
 
  if (lockMain.owns_lock()) {
    return update;
  } else {
    return false;
  }
}
 
/* -------------------------------------------------------------------------- */
template <class Object>
typename Mailbox<Object>::sotTimestampedObject &Mailbox<Object>::get(
    typename Mailbox<Object>::sotTimestampedObject &res,
    const int & /*dummy*/) {
  boost::timed_mutex::scoped_try_lock lockMain(this->mainObjectMutex);
 
  if (lockMain.owns_lock()) {
    res.timestamp.tv_sec = this->mainTimeStamp.tv_sec;
    res.timestamp.tv_usec = this->mainTimeStamp.tv_usec;
 
    update = false;
    res.obj = this->mainObject;
  }
 
  return res;
}
 
/* -------------------------------------------------------------------------- */
template <class Object>
void Mailbox<Object>::post(const Object &value) {
  boost::timed_mutex::scoped_lock lockMain(this->mainObjectMutex);
  mainObject = value;
  gettimeofday(&this->mainTimeStamp, NULL);
  update = true;
  SOUT.setReady();
 
  return;
}
 
template <class Object>
Object &Mailbox<Object>::getObject(Object &res, const int &time) {
  const sotTimestampedObject &data = SOUT(time);
  res = data.obj;
  return res;
}
 
template <class Object>
timeval &Mailbox<Object>::getTimestamp(struct timeval &res, const int &time) {
  const sotTimestampedObject &data = SOUT(time);
  res.tv_sec = data.timestamp.tv_sec;
  res.tv_usec = data.timestamp.tv_usec;
  return res;
}
 
} /* namespace sot */
} /* namespace dynamicgraph */
/* Macro for template specialization */
#ifndef WIN32
#define MAILBOX_TEMPLATE_SPE(S)                                          \
  namespace dynamicgraph {                                               \
  namespace sot {                                                        \
  template void Mailbox<S>::post(const S &obj);                          \
  template dynamicgraph::Vector &Mailbox<S>::getObject(S &res,           \
                                                       const int &time); \
  template bool Mailbox<S>::hasBeenUpdated(void);                        \
  template Mailbox<S>::~Mailbox();                                       \
  template Mailbox<S>::sotTimestampedObject &Mailbox<S>::get(            \
      Mailbox<S>::sotTimestampedObject &res, const int &dummy);          \
  template Mailbox<S>::Mailbox(const std::string &name);                 \
  }                                                                      \
  }     // namespace sot namespace dynamicgraph
#endif  // WIN32
 
#endif  // #ifdef __SOT_MAILBOX_T_CPP