StatechartEventDistributor.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::
* @author     Mirko Waechter ( mirko.waechter at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <mutex>
#include <queue>
#include <string>
 
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/interface/statechart/StatechartIce.h>
 
namespace armarx
{
    class StateController;
    using StateControllerPtr = IceInternal::Handle<StateController>;
 
    class StatechartManager;
    using StatechartManagerPtr = IceUtil::Handle<StatechartManager>;
 
    class StateBase;
    using StateBasePtr = IceInternal::Handle<StateBase>;
 
    class Event;
    using EventPtr = IceInternal::Handle<Event>;
 
    /**
     * @brief The StatechartEventDistributor class is used to distribute
     * incomming events (via Ice) to the correct states.<br/>
     *
     *
     * The events must be registered before they can be distributed.
     * The normal process is to register events here, when the condition or
     * something else is registered on the observer. The registerEvent()-function
     * returns a unique event-string that is to be passed to the observer.<br/>
     * A pointer to this class is passed to the observer, so that the observer
     * can call back.<br/>
     *
     * @note This class is an internal statechart-class and is used by the
     * classes StatechartContext and StateUtility. There is usually only one
     * instance per statechart (it is located in the StatechartContext).
     */
    class StatechartEventDistributor :
        virtual public EventListenerInterface,
        virtual public ManagedIceObject
    {
    public:
        struct EventListenerMapEntry
        {
            StateControllerPtr eventProcessor;
            EventPtr event;
            std::string globalEventIdentifier;
            int useCounter;
            long visitId;
        };
 
        StatechartEventDistributor();
 
        void setStatechartManager(const StatechartManagerPtr& statechartManager);
 
        void
        setStatechartName(std::string statechartName)
        {
            this->statechartName = statechartName;
            setName(getDefaultName());
        }
 
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return statechartName + "s_EventDistributor";
        }
 
        using EventListenerMap = std::map<std::string, EventListenerMapEntry>;
 
 
        std::string registerEvent(const EventPtr& event, StateBasePtr eventProcessor, long visitId);
        void reportEvent(const EventBasePtr& event, const Ice::Current&) override;
        std::string getUniqueEventIdentifier(const StateBasePtr& eventProcessor,
                                             const EventPtr& event,
                                             long visitId);
        void clearEventMap();
        EventListenerInterfacePrx getListener();
 
    protected:
        std::queue<std::pair<StateControllerPtr, EventPtr>> eventBuffer;
        EventListenerMap eventMap;
        std::string statechartName;
 
    private:
        // inherited from Component
        void onInitComponent() override;
        void onConnectComponent() override;
        EventListenerInterfacePrx myProxy;
        StatechartManagerPtr statechartManager;
 
        std::mutex eventMapMutex;
        std::mutex eventBufferMutex;
    };
} // namespace armarx