CCA
Beat.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 "Beat.h"
00028 
00029 #include <string>
00030 #include <sstream>
00031 #include <iostream>
00032 #include <exception>
00033 
00034 #include <boost/bind.hpp>
00035 #include <boost/signal.hpp>
00036 #include <boost/thread.hpp>
00037 #include <boost/date_time/posix_time/posix_time.hpp>
00038 #include <boost/format.hpp>
00039 
00040 using namespace std;
00041 using namespace boost;
00042 using namespace rsc;
00043 using namespace rsc::logging;
00044 using namespace rsc::threading;
00045 
00046 namespace cca {
00047 
00048 Beat::Beat(unsigned int milliseconds) :
00049         _cycletime(milliseconds), _receiver(), _numReceivers(0),
00050                 logger(Logger::getLogger("cca.beat")) {
00051 }
00052 
00053 void Beat::execute() {
00054     logger->trace("Beat execute() Sending tick");
00055 
00056     // Send tick to registered receivers
00057     for (unsigned int index = 0; index < this->_numReceivers; ++index) {
00058         this->_receiver[index]->tick();
00059     }
00060 }
00061 
00062 Beat::~Beat() {
00063 }
00064 
00065 unsigned int Beat::getCycleTime() {
00066     return this->_cycletime;
00067 }
00068 
00069 void Beat::registerReceiver(NodePtr receiver) {
00070     logger->debug(
00071             str(
00072                     format("[Beat] Node '%1%' registered to the beat")
00073                             % receiver->getName()));
00074     this->_receiver.push_back(receiver);
00075     this->_numReceivers = this->_receiver.size();
00076 }
00077 
00078 std::vector<NodePtr> Beat::getReceivers() {
00079     return this->_receiver;
00080 }
00081 
00082 NodePtr Beat::getReceiver(unsigned int index) {
00083     if (index >= this->_numReceivers) {
00084         throw std::out_of_range("[Beat] Index out of bound.");
00085     }
00086     return this->_receiver[index];
00087 }
00088 
00089 string Beat::print() const {
00090     ostringstream outstream(ostringstream::out);
00091     outstream.precision(3); // Precision when printing double values
00092     outstream << "<Beat (frequency=" << this->_cycletime << "ms, "
00093             << this->_numReceivers << " assigned receivers)>" << endl;
00094     return outstream.str();
00095 }
00096 
00097 ostream& operator<<(ostream& os, const Beat& beat) {
00098     os.precision(3); // Precision when printing double values
00099     os << beat.print();
00100     return os;
00101 }
00102 
00103 }