CCA
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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 }