Component.h

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/* ============================================================
 *
 * This file is a part of CCA project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <boost/cstdint.hpp>

#include "cca/Node.h"
#include "cca/timing/Tick.h"

namespace cca {

class Component;
typedef boost::shared_ptr<Component> ComponentPtr;

class Component: public Node {

public:
    Component(const std::string &name, ComponentStatePtr initialState =
            ComponentState::EXECUTION());
    virtual ~Component();

    virtual bool requestTransition(const ComponentStatePtr& state);

    virtual void configureStateInputPort(PortConfigurationPtr portcfg);

    virtual void configureBeatInputPort(PortConfigurationPtr portcfg);

    virtual void configureStateOutputPort(PortConfigurationPtr portcfg);

    virtual void publishState();

    virtual void process();

    virtual void onProcess();

    virtual void onStartExecution();

    virtual void onStopExecution();

    virtual void onLearnOffline();

    virtual void onStartLearnOffline();

    virtual void onStopLearnOffline();

    virtual void onLearnOnlineBeforeProcess();

    virtual void onStartLearnOnline();

    virtual void onStopLearnOnline();

    virtual void onLearnOnlineAfterProcess();

    virtual std::string print() const;

protected:

    void createBeatInputPort();
    void createStateInputPort();
    void createStateOutputPort();

    void beatCallback(rsb::EventPtr);
    void stateCallback(rsb::EventPtr);

    ComponentStatePtr state;

    InputPort<cca::timing::Tick>::Ptr inputBeat;

    InputPort<ComponentState>::Ptr inputState;

    OutputPort<ComponentState>::Ptr outputState;

    cca::timing::TickPtr lastTick;
    boost::uint64_t circuitTime, circuitVirtualTime;
    boost::uint64_t circuitLastTimestep, circuitLastVirtualTimestep;
    boost::uint64_t circuitSequence;

private:
    Component(Component &node);

    void operator=(const Component&);

    std::string scopeName();
    std::string scopename;

    rsc::logging::LoggerPtr logger;

    ComponentStatePtr initialState;
};

}