LocalTimeServer.cpp

Go to the documentation of this file.

/*
 * 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    ArmarXCore::core
 * @author     Clemens Wallrath ( uagzs at student dot kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
#include <algorithm>
 
#include "LocalTimeServer.h"
 
 
namespace armarx
{
    LocalTimeServer::LocalTimeServer()
    {
        time = IceUtil::Time::milliSeconds(0);
    }
 
    std::string LocalTimeServer::getDefaultName() const
    {
        return "LocalTimeServer";
    }
 
    void LocalTimeServer::onInitComponent()
    {
        usingProxy(GLOBAL_TIMESERVER_NAME);
        usingTopic(TIME_TOPIC_NAME);
    }
 
 
    void LocalTimeServer::onConnectComponent()
    {
        timeServerPrx = getProxy<TimeServerInterfacePrx>(GLOBAL_TIMESERVER_NAME);
        timeTopicPrx = armarx::ManagedIceObject::getTopic<TimeServerListenerPrx>(TIME_TOPIC_NAME);
    }
 
    void LocalTimeServer::onDisconnectComponent()
    {
        timeServerPrx = nullptr;
    }
 
 
    void LocalTimeServer::reportTime(::Ice::Long timestamp, const Ice::Current&)
    {
        IceUtil::Time tempTime = IceUtil::Time::milliSeconds(timestamp);
        // if the new time is before the current time we have to subtract the delta from all threads sleeping
        // to prevent them from waiting too long.
        // if we don't do this, the following can happen:
        // global time = 10min
        // thread sleeps for 10ms (-> until time is 10min + 10ms)
        // reset of timeserver -> global time = 0
        // thread wakes up after 10min + 10ms
        IceUtil::Time timeDeduction;
        {
            std::unique_lock lock(timeMutex);
            timeDeduction = tempTime - this->time;
            this->time = tempTime;
        }
        if (timeDeduction.toMicroSeconds() > 0)
        {
            //the time progresses monotonically
            timeDeduction = IceUtil::Time::microSeconds(0);
        }
 
        if (scheduledTasksMutex.try_lock())
        {
            for (std::vector<RegisteredTimer>::iterator it = scheduledTasks.begin(); it != scheduledTasks.end();)
            {
                it->endTime += timeDeduction;
                if (it->endTime < tempTime)
                {
                    CallbackReceiver* callback = it->callback;
                    it = scheduledTasks.erase(it);
                    callback->call();
                }
                else
                {
                    ++it;
                }
            }
 
            scheduledTasksMutex.unlock();
        }
    }
 
    Ice::Long LocalTimeServer::getTime(const ::Ice::Current&)
    {
        std::shared_lock lock(timeMutex);
        return static_cast<Ice::Long>(time.toMilliSeconds());
    }
 
    LocalTimeServerPtr LocalTimeServer::getApplicationTimeServer()
    {
        static LocalTimeServerPtr applicationTimeServer(new LocalTimeServer());
        return applicationTimeServer;
    }
 
    void LocalTimeServer::setApplicationTimeServerName(const std::string& name)
    {
        getApplicationTimeServer()->setName(name);
    }
 
    void LocalTimeServer::stop(const ::Ice::Current&)
    {
        timeServerPrx->stop();
    }
 
    void LocalTimeServer::start(const ::Ice::Current&)
    {
        timeServerPrx->start();
    }
 
    void LocalTimeServer::step(const ::Ice::Current&)
    {
        timeServerPrx->step();
    }
 
    void LocalTimeServer::setSpeed(Ice::Float newSpeed, const ::Ice::Current&)
    {
        timeServerPrx->setSpeed(newSpeed);
    }
 
    Ice::Float LocalTimeServer::getSpeed(const Ice::Current&)
    {
        return timeServerPrx->getSpeed();
    }
 
    void LocalTimeServer::registerTimer(IceUtil::Time endTime, CallbackReceiver* callback)
    {
        std::unique_lock lock(scheduledTasksMutex);
        scheduledTasks.push_back(RegisteredTimer {endTime, callback});
    }
 
    void LocalTimeServer::unregisterTimer(CallbackReceiver* callback)
    {
        std::unique_lock lock(scheduledTasksMutex);
        scheduledTasks.erase(std::remove_if(scheduledTasks.begin(), scheduledTasks.end(), [callback](RegisteredTimer t)
        {
            return t.callback == callback;
        }), scheduledTasks.end());
    }
 
    Ice::Int LocalTimeServer::getStepTimeMS(const ::Ice::Current&)
    {
        return timeServerPrx->getStepTimeMS();
    }
}