RTPeriodicBeat.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 "RTPeriodicBeat.h"

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

#include <boost/bind.hpp>
#include <boost/signal.hpp>
#include <boost/thread.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>

using namespace std;
using namespace boost;
using namespace rsc;
using namespace rsc::logging;
using namespace rsc::threading;

namespace cca {

RTPeriodicBeat::RTPeriodicBeat(unsigned int milliseconds) :
        Beat(milliseconds), rsc::threading::PeriodicTask(milliseconds),
                beatlogger(Logger::getLogger("cca.beat")) {
    beatlogger->debug("[RTPeriodicBeat] constructed");
}

void RTPeriodicBeat::execute() {
    beatlogger->trace("[RTPeriodicBeat] >beat<");

    // Send tick to registered receivers
    for (unsigned int index = 0; index < this->_numReceivers; ++index) {
        this->_receiver[index]->tick();
    }
}

RTPeriodicBeat::~RTPeriodicBeat() {
}

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

void RTPeriodicBeat::registerReceiver(NodePtr receiver) {
    beatlogger->debug(
            "[RTPeriodicBeat] registerReceiver() registering component");
    this->_receiver.push_back(receiver);
    this->_numReceivers = this->_receiver.size();
}

std::vector<NodePtr> RTPeriodicBeat::getReceivers() {
    return this->_receiver;
}

void RTPeriodicBeat::cancel() {
    beatlogger->debug("[RTPeriodicBeat] cancel() requested");
    PeriodicTask::cancel();
}

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

void RTPeriodicBeat::run() {
    beatlogger->debug("[RTPeriodicBeat] run() started");
    PeriodicTask::run();
}

NodePtr RTPeriodicBeat::getReceiver(unsigned int index) {
    if (index >= this->_numReceivers) {
        throw std::out_of_range("[RTPeriodicBeat] Index out of bound.");
    }
    return this->_receiver[index];
}

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

BeatPtr RTPeriodicBeat::create(unsigned int milliseconds) {
    return BeatPtr(new RTPeriodicBeat(milliseconds));
}

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

}