CCA
BeatProvider.cpp
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00001 /* ============================================================
00002  *
00003  * This file is a part of CCA project
00004  *
00005  * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
00006  *
00007  * This file may be licensed under the terms of the
00008  * GNU Lesser General Public License Version 3 (the ``LGPL''),
00009  * or (at your option) any later version.
00010  *
00011  * Software distributed under the License is distributed
00012  * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
00013  * express or implied. See the LGPL for the specific language
00014  * governing rights and limitations.
00015  *
00016  * You should have received a copy of the LGPL along with this
00017  * program. If not, go to http://www.gnu.org/licenses/lgpl.html
00018  * or write to the Free Software Foundation, Inc.,
00019  * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
00020  *
00021  * The development of this software was supported by:
00022  *   CoR-Lab, Research Institute for Cognition and Robotics
00023  *     Bielefeld University
00024  *
00025  * ============================================================ */
00026 
00027 #include "BeatProvider.h"
00028 
00029 #include <sstream>
00030 
00031 #include <boost/shared_ptr.hpp>
00032 
00033 #include <rsc/logging/Logger.h>
00034 
00035 #include "cca/config.h"
00036 #include "cca/timing/Tick.h"
00037 
00038 using namespace std;
00039 using namespace rsc;
00040 using namespace rsc::logging;
00041 
00042 namespace cca {
00043 namespace timing {
00044 
00045 BeatProvider::BeatProvider() :
00046         outputBeat(), logger(Logger::getLogger("cca.beatprovider")),
00047                 sequenceNumber(0) {
00048     this->createBeatOutputPort();
00049 }
00050 
00051 BeatProvider::~BeatProvider() {
00052 }
00053 
00054 void BeatProvider::createBeatOutputPort() {
00055     logger->trace("BeatProvider createBeatOutputPort()");
00056     // Set-up port
00057     this->outputBeat = OutputPort<Tick>::create();
00058 
00059     // Default port configuration
00060     this->configureBeatOutputPort(
00061             PortConfiguration::LOCAL(CCA_DEFAULTSCOPE_HEARTBEAT));
00062 }
00063 
00064 void BeatProvider::configureBeatOutputPort(PortConfigurationPtr portcfg) {
00065     logger->trace("BeatProvider configureBeatOutputPort()");
00066     this->outputBeat->configure(portcfg);
00067 }
00068 
00069 void BeatProvider::beat() {
00070     logger->trace("BeatProvider beat()");
00071     OutputPort<Tick>::DataPtr tick(new Tick(sequenceNumber++));
00072     logger->trace("BeatProvider beat() " + tick->print());
00073     this->outputBeat->publish(tick);
00074 }
00075 
00076 }
00077 }