ConditionHandler.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarX::Core
* @author     Kai Welke (welke _at_ kit _dot_ edu)
* @date       2011
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
 
#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
#include <ArmarXCore/observers/condition/LiteralImpl.h>
 
#include <vector>
#include <string>
#include <mutex>
 
 
namespace armarx
{
    class ConditionHandlerPropertyDefinitions:
        public ComponentPropertyDefinitions
    {
    public:
        ConditionHandlerPropertyDefinitions(std::string prefix);
    };
 
    class ARMARXCORE_IMPORT_EXPORT ConditionHandler :
        virtual public ConditionHandlerInterface,
        virtual public Component
    {
    public:
        ConditionIdentifier installCondition(const EventListenerInterfacePrx& listener, const TermImplBasePtr& expression, const EventBasePtr& e, bool onlyFireOnce, bool reportDatafields, const DatafieldRefList& refs, const Ice::Current& c = Ice::emptyCurrent) override;
 
        ConditionIdentifier installConditionWithDescription(const EventListenerInterfacePrx& listener, const TermImplBasePtr& expression, const EventBasePtr& e, const std::string& desc, bool onlyFireOnce, bool reportDatafields, const DatafieldRefList& refs, const Ice::Current& c = Ice::emptyCurrent) override;
 
        void removeCondition(const ConditionIdentifier& id, const Ice::Current& c = Ice::emptyCurrent) override;
 
        void removeAllConditions(const Ice::Current& c = Ice::emptyCurrent) override;
 
        Ice::StringSeq getObserverNames(const Ice::Current& c = Ice::emptyCurrent) override;
 
        ConditionRegistry getActiveConditions(const Ice::Current& c = Ice::emptyCurrent) override;
 
        ConditionRegistry getPastConditions(const Ice::Current& c = Ice::emptyCurrent) override;
 
        ConditionRootBasePtr getCondition(Ice::Int id, const Ice::Current& c = Ice::emptyCurrent) override;
 
        std::string getDefaultName() const override;
 
    protected:
        virtual void onInitConditionHandler() { }
 
        virtual void onStartConditionHandler() { }
 
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
 
    private:
        // active checks and associated events
        std::mutex idMutex;
        std::mutex iceManagerMutex;
        std::mutex conditionRegistryMutex;
        ConditionRegistry conditionRegistry;
        std::mutex conditionHistoryMutex;
        ConditionRegistry conditionHistory;
        int historyLength;
 
        // utility methods for observers
        void useObservers(std::vector<std::string>& names);
        void preCacheObservers(std::vector<std::string>& names);
        ObserverInterfacePrx getObserver(std::string observerName);
 
        // utility methods for check handling
        void installChecks(std::vector<LiteralImplPtr>& literals, const Ice::Current& c);
        void removeChecks(std::vector<LiteralImplPtr>& literals, const Ice::Current& c);
 
        Ice::StringSeq observerNames;
 
        int generateId();
        int currentId;
    };
}