CCA
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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 }