CCA
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SingleItemBuffer.h
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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 #pragma once 00028 00029 #include <string> 00030 #include <sstream> 00031 #include <iostream> 00032 #include <exception> 00033 00034 #include <boost/thread/recursive_mutex.hpp> 00035 00036 #include "cca/buffer/Buffer.h" 00037 00038 namespace cca { 00039 00047 template<class DATATYPE> 00048 class SingleItemBuffer: public Buffer<DATATYPE> { 00049 public: 00050 00052 typedef ::boost::shared_ptr<SingleItemBuffer<DATATYPE> > Ptr; 00053 00055 typedef ::boost::shared_ptr<DATATYPE> DataPtr; 00056 00063 SingleItemBuffer(bool alwaysKeepLatest = true) : 00064 Buffer<DATATYPE>(alwaysKeepLatest), _buffer(), bufferMutex() { 00065 } 00066 00067 virtual ~SingleItemBuffer() { 00068 } 00069 00073 std::string print() const { 00074 std::ostringstream outstream(std::ostringstream::out); 00075 outstream.precision(3); // Precision when printing double values 00076 outstream << "SingleItemBuffer"; 00077 if (this->keepLatest) { 00078 outstream << ", keep latest"; 00079 if (this->warm) { 00080 outstream << " (warm)"; 00081 } else { 00082 outstream << " (cold)"; 00083 } 00084 } 00085 if (this->newItem()) { 00086 outstream << ", 1 new item"; 00087 } 00088 return outstream.str(); 00089 } 00090 00097 virtual DataPtr get() throw () { 00098 boost::recursive_mutex::scoped_lock scoped_lock(bufferMutex); 00099 if (this->keepLatest && this->warm) { 00100 this->numItems = 0; 00101 this->newitem = false; 00102 return _buffer; 00103 } 00104 00105 if (this->empty()) { 00106 throw std::runtime_error("Single Item Buffer is empty."); 00107 } 00108 00109 DataPtr item = this->_buffer; 00110 this->_buffer = DataPtr(); 00111 this->numItems = 0; 00112 this->newitem = false; 00113 return item; 00114 } 00115 00122 virtual void add(DataPtr item) { 00123 boost::recursive_mutex::scoped_lock scoped_lock(bufferMutex); 00124 this->_buffer = item; 00125 this->numItems = 1; 00126 this->newitem = true; 00127 this->warm = true; 00128 } 00129 00133 virtual void purge() { 00134 boost::recursive_mutex::scoped_lock scoped_lock(bufferMutex); 00135 this->_buffer = DataPtr(); 00136 this->numItems = 0; 00137 this->newitem = false; 00138 this->warm = false; 00139 } 00140 00141 private: 00143 SingleItemBuffer(SingleItemBuffer &buffer); 00144 00146 void operator=(const SingleItemBuffer &buffer); 00147 00148 DataPtr _buffer; 00149 mutable boost::recursive_mutex bufferMutex; 00150 }; 00151 00152 }