686 lines
23 KiB
C++
686 lines
23 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_EVENT_HH_
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#define _GAZEBO_EVENT_HH_
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#include <atomic>
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#include <iostream>
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#include <vector>
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#include <map>
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#include <memory>
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#include <mutex>
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#include <list>
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#include <boost/function.hpp>
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#include <boost/bind.hpp>
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#include <gazebo/gazebo_config.h>
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#include <gazebo/common/Time.hh>
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#include <gazebo/common/CommonTypes.hh>
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#include <gazebo/math/Helpers.hh>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_event
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/// \brief Event namespace
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namespace event
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{
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/// \addtogroup gazebo_event Events
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/// \brief Signals and connections to send and receive event-based
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/// triggers.
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/// \{
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/// \cond
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// Private data members for Event class.
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// This must be in the header due to templatization.
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class GZ_COMMON_VISIBLE EventPrivate
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{
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// \brief Constructor
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public: EventPrivate();
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/// \brief True if the event has been signaled.
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public: bool signaled;
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};
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/// \endcond
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/// \class Event Event.hh common/common.hh
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/// \brief Base class for all events
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class GZ_COMMON_VISIBLE Event
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{
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/// \brief Constructor
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public: Event();
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/// \brief Destructor
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public: virtual ~Event();
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/// \brief Disconnect
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/// \param[in] _c A pointer to a connection
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public: virtual void Disconnect(ConnectionPtr _c) = 0;
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/// \brief Disconnect
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/// \param[in] _id Integer ID of a connection
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public: virtual void Disconnect(int _id) = 0;
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/// \brief Get whether this event has been signaled.
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/// \return True if the event has been signaled.
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public: bool GetSignaled() const;
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/// \brief Allow subclasses to initialize their own data pointer.
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/// \param[in] _d Reference to data pointer.
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protected: Event(EventPrivate &_d);
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/// \brief Data pointer.
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protected: EventPrivate *dataPtr;
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};
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/// \cond
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// Private data members for Connection class.
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class GZ_COMMON_VISIBLE ConnectionPrivate
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{
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/// \brief Constructor.
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public: ConnectionPrivate();
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/// \brief Constructor.
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/// \param[in] _e Event pointer to connect with
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/// \param[in] _i Unique id
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public: ConnectionPrivate(Event *_e, int _i);
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/// \brief the event for this connection
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public: Event *event;
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/// \brief the id set in the constructor
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public: int id;
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/// \brief set during the constructor
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public: common::Time creationTime;
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};
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/// \endcond
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/// \brief A class that encapsulates a connection.
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class GZ_COMMON_VISIBLE Connection
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{
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/// \brief Constructor.
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public: Connection();
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/// \brief Constructor.
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/// \param[in] _e Event pointer to connect with.
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/// \param[in] _i Unique id.
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public: Connection(Event *_e, int _i);
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/// \brief Destructor.
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public: ~Connection();
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/// \brief Get the id of this connection.
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/// \return The id of this connection.
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public: int GetId() const;
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/// \brief Private data pointer.
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private: ConnectionPrivate *dataPtr;
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/// \brief Friend class.
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public: template<typename T> friend class EventT;
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};
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/// \internal
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template<typename T>
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class EventConnection
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{
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/// \brief Constructor
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public: EventConnection(const bool _on,
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boost::function<T> *_cb)
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: callback(_cb)
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{
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// Windows Visual Studio 2012 does not have atomic_bool constructor,
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// so we have to set "on" using operator=
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this->on = _on;
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}
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/// \brief On/off value for the event callback
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public: std::atomic_bool on;
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/// \brief Callback function
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public: std::shared_ptr<boost::function<T> > callback;
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};
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/// \cond
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// Private data members for EventT<T> class.
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template< typename T>
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class EventTPrivate : public EventPrivate
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{
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/// \def EvtConnectionMap
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/// \brief Event Connection map typedef.
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typedef std::map<int, std::shared_ptr<EventConnection<T> > >
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EvtConnectionMap;
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/// \brief Array of connection callbacks.
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public: EvtConnectionMap connections;
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/// \brief A thread lock.
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public: std::mutex mutex;
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/// \brief List of connections to remove
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public: std::list<typename EvtConnectionMap::const_iterator>
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connectionsToRemove;
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};
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/// \endcond
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/// \class EventT Event.hh common/common.hh
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/// \brief A class for event processing.
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template< typename T>
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class EventT : public Event
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{
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/// \brief Constructor.
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public: EventT();
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/// \brief Destructor.
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public: virtual ~EventT();
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/// \brief Connect a callback to this event.
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/// \param[in] _subscriber Pointer to a callback function.
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/// \return A Connection object, which will automatically call
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/// Disconnect when it goes out of scope.
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public: ConnectionPtr Connect(const boost::function<T> &_subscriber);
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/// \brief Disconnect a callback to this event.
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/// \param[in] _c The connection to disconnect.
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public: virtual void Disconnect(ConnectionPtr _c);
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/// \brief Disconnect a callback to this event.
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/// \param[in] _id The id of the connection to disconnect.
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public: virtual void Disconnect(int _id);
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/// \brief Get the number of connections.
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/// \return Number of connection to this Event.
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public: unsigned int ConnectionCount() const;
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/// \brief Access the signal.
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public: void operator()()
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{this->Signal();}
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/// \brief Signal the event with one parameter.
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/// \param[in] _p the parameter.
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public: template< typename P >
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void operator()(const P &_p)
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{
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this->Signal(_p);
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}
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/// \brief Signal the event with two parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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public: template< typename P1, typename P2 >
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void operator()(const P1 &_p1, const P2 &_p2)
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{
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this->Signal(_p1, _p2);
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}
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/// \brief Signal the event with three parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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public: template< typename P1, typename P2, typename P3 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3)
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{
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this->Signal(_p1, _p2, _p3);
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}
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/// \brief Signal the event with four parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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public: template< typename P1, typename P2, typename P3, typename P4 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4)
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{
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this->Signal(_p1, _p2, _p3, _p4);
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}
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/// \brief Signal the event with five parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fift parameter.
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public: template< typename P1, typename P2, typename P3, typename P4,
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typename P5 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5)
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{
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this->Signal(_p1, _p2, _p3, _p4, _p5);
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}
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/// \brief Signal the event with six parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fift parameter.
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/// \param[in] _p6 the sixt parameter.
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public: template< typename P1, typename P2, typename P3, typename P4,
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typename P5, typename P6 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6)
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{
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this->Signal(_p1, _p2, _p3, _p4, _p5, _p6);
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}
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/// \brief Signal the event with seven parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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/// \param[in] _p6 the sixth parameter.
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/// \param[in] _p7 the seventh parameter.
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public: template< typename P1, typename P2, typename P3, typename P4,
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typename P5, typename P6, typename P7 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6,
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const P7 &_p7)
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{
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this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7);
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}
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/// \brief Signal the event with eight parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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/// \param[in] _p6 the sixth parameter.
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/// \param[in] _p7 the seventh parameter.
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/// \param[in] _p8 the eighth parameter.
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public: template< typename P1, typename P2, typename P3, typename P4,
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typename P5, typename P6, typename P7, typename P8 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6,
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const P7 &_p7, const P8 &_p8)
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{
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this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8);
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}
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/// \brief Signal the event with nine parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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/// \param[in] _p6 the sixth parameter.
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/// \param[in] _p7 the seventh parameter.
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/// \param[in] _p8 the eighth parameter.
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/// \param[in] _p9 the ninth parameter.
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public: template< typename P1, typename P2, typename P3, typename P4,
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typename P5, typename P6, typename P7, typename P8,
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typename P9 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6,
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const P7 &_p7, const P8 &_p8, const P9 &_p9)
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{
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this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9);
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}
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/// \brief Signal the event with ten parameters.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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/// \param[in] _p6 the sixth parameter.
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/// \param[in] _p7 the seventh parameter.
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/// \param[in] _p8 the eighth parameter.
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/// \param[in] _p9 the ninth parameter.
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/// \param[in] _p10 the tenth parameter.
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public: template< typename P1, typename P2, typename P3, typename P4,
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typename P5, typename P6, typename P7, typename P8,
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typename P9, typename P10 >
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void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6,
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const P7 &_p7, const P8 &_p8, const P9 &_p9,
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const P10 &_p10)
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{
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this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9, _p10);
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}
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/// \brief Signal the event for all subscribers.
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public: void Signal()
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)();
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}
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}
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/// \brief Signal the event with one parameter.
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/// \param[in] _p parameter.
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public: template< typename P >
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void Signal(const P &_p)
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)(_p);
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}
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}
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/// \brief Signal the event with two parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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public: template< typename P1, typename P2 >
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void Signal(const P1 &_p1, const P2 &_p2)
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)(_p1, _p2);
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}
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}
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/// \brief Signal the event with three parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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public: template< typename P1, typename P2, typename P3 >
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void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3)
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)(_p1, _p2, _p3);
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}
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}
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/// \brief Signal the event with four parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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public: template<typename P1, typename P2, typename P3, typename P4>
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void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4)
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)(_p1, _p2, _p3, _p4);
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}
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}
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/// \brief Signal the event with five parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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public: template<typename P1, typename P2, typename P3, typename P4,
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typename P5>
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void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5)
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)(_p1, _p2, _p3, _p4, _p5);
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}
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}
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/// \brief Signal the event with six parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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/// \param[in] _p6 the sixth parameter.
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public: template<typename P1, typename P2, typename P3, typename P4,
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typename P5, typename P6>
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void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6)
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{
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this->Cleanup();
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections)
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{
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if (iter.second->on)
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(*iter.second->callback)(_p1, _p2, _p3, _p4, _p5, _p6);
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}
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}
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/// \brief Signal the event with seven parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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/// \param[in] _p4 the first parameter.
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/// \param[in] _p5 the fifth parameter.
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/// \param[in] _p6 the sixth parameter.
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/// \param[in] _p7 the seventh parameter.
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public: template<typename P1, typename P2, typename P3, typename P4,
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|
typename P5, typename P6, typename P7>
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void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7)
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|
{
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|
this->Cleanup();
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|
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this->myDataPtr->signaled = true;
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for (auto iter: this->myDataPtr->connections.begin())
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|
{
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if (iter.second->on)
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(*iter.second->callback)(_p1, _p2, _p3, _p4, _p5, _p6, _p7);
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}
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|
}
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|
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|
/// \brief Signal the event with eight parameter.
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/// \param[in] _p1 the first parameter.
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/// \param[in] _p2 the second parameter.
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/// \param[in] _p3 the second parameter.
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|
/// \param[in] _p4 the first parameter.
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|
/// \param[in] _p5 the fifth parameter.
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|
/// \param[in] _p6 the sixth parameter.
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/// \param[in] _p7 the seventh parameter.
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|
/// \param[in] _p8 the eighth parameter.
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|
public: template<typename P1, typename P2, typename P3, typename P4,
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|
typename P5, typename P6, typename P7, typename P8>
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|
void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
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|
const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
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|
const P8 &_p8)
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|
{
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|
this->Cleanup();
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|
|
|
this->myDataPtr->signaled = true;
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|
for (auto iter: this->myDataPtr->connections)
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|
{
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|
if (iter.second->on)
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|
{
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|
(*iter.second->callback)(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8);
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|
}
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|
}
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|
}
|
|
|
|
/// \brief Signal the event with nine parameter.
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|
/// \param[in] _p1 the first parameter.
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|
/// \param[in] _p2 the second parameter.
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|
/// \param[in] _p3 the second parameter.
|
|
/// \param[in] _p4 the first parameter.
|
|
/// \param[in] _p5 the fifth parameter.
|
|
/// \param[in] _p6 the sixth parameter.
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|
/// \param[in] _p7 the seventh parameter.
|
|
/// \param[in] _p8 the eighth parameter.
|
|
/// \param[in] _p9 the ninth parameter.
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|
public: template< typename P1, typename P2, typename P3, typename P4,
|
|
typename P5, typename P6, typename P7, typename P8,
|
|
typename P9 >
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|
void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
|
|
const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
|
|
const P8 &_p8, const P9 &_p9)
|
|
{
|
|
this->Cleanup();
|
|
|
|
this->myDataPtr->signaled = true;
|
|
for (auto iter: this->myDataPtr->connections)
|
|
{
|
|
if (iter.second->on)
|
|
{
|
|
(*iter.second->callback)(
|
|
_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// \brief Signal the event with ten parameter.
|
|
/// \param[in] _p1 the first parameter.
|
|
/// \param[in] _p2 the second parameter.
|
|
/// \param[in] _p3 the second parameter.
|
|
/// \param[in] _p4 the first parameter.
|
|
/// \param[in] _p5 the fifth parameter.
|
|
/// \param[in] _p6 the sixth parameter.
|
|
/// \param[in] _p7 the seventh parameter.
|
|
/// \param[in] _p8 the eighth parameter.
|
|
/// \param[in] _p9 the ninth parameter.
|
|
/// \param[in] _p10 the tenth parameter.
|
|
public: template< typename P1, typename P2, typename P3, typename P4,
|
|
typename P5, typename P6, typename P7, typename P8,
|
|
typename P9, typename P10 >
|
|
void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
|
|
const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
|
|
const P8 &_p8, const P9 &_p9, const P10 &_p10)
|
|
{
|
|
this->Cleanup();
|
|
|
|
this->myDataPtr->signaled = true;
|
|
for (auto iter: this->myDataPtr->connections)
|
|
{
|
|
if (iter.second->on)
|
|
{
|
|
(*iter.second->callback)(
|
|
_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9, _p10);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// \internal
|
|
/// \brief Removes queued connections.
|
|
/// We assume that this function is called from a Signal function.
|
|
private: void Cleanup();
|
|
|
|
/// \brief Private data pointer.
|
|
private: EventTPrivate<T> *myDataPtr;
|
|
};
|
|
|
|
/// \brief Constructor.
|
|
template<typename T>
|
|
EventT<T>::EventT()
|
|
: Event(*(new EventTPrivate<T>()))
|
|
{
|
|
this->myDataPtr = static_cast<EventTPrivate<T>*>(this->dataPtr);
|
|
}
|
|
|
|
/// \brief Destructor. Deletes all the associated connections.
|
|
template<typename T>
|
|
EventT<T>::~EventT()
|
|
{
|
|
this->myDataPtr->connections.clear();
|
|
}
|
|
|
|
/// \brief Adds a connection.
|
|
/// \param[in] _subscriber the subscriber to connect.
|
|
template<typename T>
|
|
ConnectionPtr EventT<T>::Connect(const boost::function<T> &_subscriber)
|
|
{
|
|
int index = 0;
|
|
if (!this->myDataPtr->connections.empty())
|
|
{
|
|
auto const &iter = this->myDataPtr->connections.rbegin();
|
|
index = iter->first + 1;
|
|
}
|
|
this->myDataPtr->connections[index].reset(new EventConnection<T>(true,
|
|
new boost::function<T>(_subscriber)));
|
|
return ConnectionPtr(new Connection(this, index));
|
|
}
|
|
|
|
/// \brief Removes a connection.
|
|
/// \param[in] _c the connection.
|
|
template<typename T>
|
|
void EventT<T>::Disconnect(ConnectionPtr _c)
|
|
{
|
|
if (!_c)
|
|
return;
|
|
|
|
this->Disconnect(_c->GetId());
|
|
_c->dataPtr->event = NULL;
|
|
_c->dataPtr->id = -1;
|
|
}
|
|
|
|
/// \brief Get the number of connections.
|
|
/// \return Number of connections.
|
|
template<typename T>
|
|
unsigned int EventT<T>::ConnectionCount() const
|
|
{
|
|
return this->myDataPtr->connections.size();
|
|
}
|
|
|
|
/// \brief Removes a connection.
|
|
/// \param[in] _id the connection index.
|
|
template<typename T>
|
|
void EventT<T>::Disconnect(int _id)
|
|
{
|
|
// Find the connection
|
|
auto const &it = this->myDataPtr->connections.find(_id);
|
|
|
|
if (it != this->myDataPtr->connections.end())
|
|
{
|
|
it->second->on = false;
|
|
this->myDataPtr->connectionsToRemove.push_back(it);
|
|
}
|
|
}
|
|
|
|
/////////////////////////////////////////////
|
|
template<typename T>
|
|
void EventT<T>::Cleanup()
|
|
{
|
|
std::lock_guard<std::mutex> lock(this->myDataPtr->mutex);
|
|
// Remove all queue connections.
|
|
for (auto &conn : this->myDataPtr->connectionsToRemove)
|
|
this->myDataPtr->connections.erase(conn);
|
|
this->myDataPtr->connectionsToRemove.clear();
|
|
}
|
|
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|