HeartBeat.cpp

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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
 *
 * ============================================================ */

#include "HeartBeat.h"

#include <string>
#include <sstream>
#include <iostream>

#include "cca/config.h"

using namespace std;
using namespace rsc::logging;

namespace cca {
namespace timing {

HeartBeat::HeartBeat(unsigned int milliseconds,
        PortConfiguration::Transport transport) :
        BeatProvider(), rsc::threading::PeriodicTask(milliseconds),
                _cycletime(milliseconds), _sequenceNumber(0),
                logger(Logger::getLogger("cca.heartbeat")) {

    RSCDEBUG(logger, "[HeartBeat] constructed");

    if (transport == PortConfiguration::CCALocalRemote) {
        RSCWARN(logger, "HeartBeat configured locally and remote. This can lead"
        " to nodes receiving ticks twice (locally and remotely) if not"
        " configured properly.")
    }

    this->outputBeat->configure(
            PortConfiguration::create(transport, CCA_DEFAULTSCOPE_HEARTBEAT));
}

HeartBeat::~HeartBeat() {
}

void HeartBeat::execute() {
    RSCTRACE(logger, "[HeartBeat] >beat<");

    OutputPort<Tick>::DataPtr tick(new Tick(_sequenceNumber++));
    this->outputBeat->publish(tick);
}

unsigned int HeartBeat::getCycleTime() {
    return this->_cycletime;
}

void HeartBeat::cancel() {
    RSCDEBUG(logger, "[HeartBeat] cancel() requested");
    PeriodicTask::cancel();
}

bool HeartBeat::isCancelRequested() {
    return PeriodicTask::isCancelRequested();
}

void HeartBeat::run() {
    RSCDEBUG(logger, "[HeartBeat] run() started");
    PeriodicTask::run();
}

void HeartBeat::run(unsigned int cycles) {
    // TODO
    RSCDEBUG(logger, "[HeartBeat] run() started");
    PeriodicTask::run();
}

string HeartBeat::print() const {
    ostringstream outstream(ostringstream::out);
    outstream.precision(3); // Precision when printing double values
    outstream << "<HeartBeat (frequency=" << this->_cycletime << "ms)>";
    return outstream.str();
}

HeartBeatPtr HeartBeat::LOCAL(unsigned int milliseconds) {
    return HeartBeatPtr(
            new HeartBeat(milliseconds, PortConfiguration::CCALocal));
}

HeartBeatPtr HeartBeat::REMOTE(unsigned int milliseconds) {
    return HeartBeatPtr(
            new HeartBeat(milliseconds, PortConfiguration::CCARemote));
}

HeartBeatPtr HeartBeat::LOCALREMOTE(unsigned int milliseconds) {
    return HeartBeatPtr(
            new HeartBeat(milliseconds, PortConfiguration::CCALocalRemote));
}

ostream& operator<<(ostream& os, const HeartBeat& beat) {
    os.precision(3); // Precision when printing double values
    os << beat.print();
    return os;
}

}
}