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<h1>store.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef GBXICEUTILACFR_STORE_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBXICEUTILACFR_STORE_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <gbxutilacfr/exceptions.h></span>
<a name="l00015"></a>00015
<a name="l00016"></a>00016 <span class="preprocessor">#include <IceUtil/Monitor.h></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include <IceUtil/Mutex.h></span>
<a name="l00018"></a>00018 <span class="preprocessor">#include <IceUtil/Time.h></span>
<a name="l00019"></a>00019
<a name="l00020"></a>00020 <span class="keyword">namespace </span>gbxiceutilacfr {
<a name="l00021"></a>00021
<a name="l00041"></a>00041 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00042"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html">00042</a> <span class="keyword">class </span><a class="code" href="classgbxiceutilacfr_1_1Store.html" title="Thread-safe storage for a single data objects.">Store</a> : <span class="keyword">public</span> IceUtil::Monitor<IceUtil::Mutex>
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">public</span>:
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <a class="code" href="classgbxiceutilacfr_1_1Store.html" title="Thread-safe storage for a single data objects.">Store</a>();
<a name="l00047"></a>00047 <span class="keyword">virtual</span> ~<a class="code" href="classgbxiceutilacfr_1_1Store.html" title="Thread-safe storage for a single data objects.">Store</a>();
<a name="l00048"></a>00048
<a name="l00052"></a>00052 <span class="keywordtype">bool</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a2ad270588b78c2141254d024dfc52aa9">isEmpty</a>() <span class="keyword">const</span>;
<a name="l00053"></a>00053
<a name="l00055"></a>00055 <span class="keywordtype">bool</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a9ad94fcb79126e6fea65a2f3f88ddca0" title="Returns TRUE if the data in the Store has not been accessed with get() yet.">isNewData</a>() <span class="keyword">const</span>;
<a name="l00056"></a>00056
<a name="l00058"></a>00058 <span class="keywordtype">void</span> <span class="keyword">set</span>( <span class="keyword">const</span> Type & obj );
<a name="l00059"></a>00059
<a name="l00063"></a>00063 <span class="keywordtype">void</span> <span class="keyword">get</span>( Type & obj );
<a name="l00064"></a>00064
<a name="l00068"></a>00068 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a1d2bd86fbe17b1e2027b0afd6fac8558">peek</a>( Type & obj ) <span class="keyword">const</span>;
<a name="l00069"></a>00069
<a name="l00079"></a>00079 <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a6b0cd62a7217e2edadbc2ccde18f41d2" title="Waits until the next update and returns the new value. If the Store is empty, getNext...">getNext</a>( Type & obj, <span class="keywordtype">int</span> timeoutMs=-1 );
<a name="l00080"></a>00080
<a name="l00083"></a>00083 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a12aecb60ba03316e3709d15ca7c38622">purge</a>();
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keyword">protected</span>:
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment">// local copy of the object</span>
<a name="l00088"></a>00088 Type obj_;
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="comment">// Reimplement this function for non-standard types.</span>
<a name="l00091"></a>00091 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internalGet( Type & obj ) <span class="keyword">const</span> ;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">// Reimplement this function for non-standard types.</span>
<a name="l00094"></a>00094 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internalSet( <span class="keyword">const</span> Type & obj );
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keyword">private</span>:
<a name="l00097"></a>00097
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keywordtype">bool</span> isEmpty_;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="comment">// flag to keep track of new data.</span>
<a name="l00102"></a>00102 <span class="keywordtype">bool</span> isNewData_;
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment">// internal implementation of front( obj, -1 ); returns 0.</span>
<a name="l00105"></a>00105 <span class="keywordtype">int</span> getNextNoWait( Type & obj );
<a name="l00106"></a>00106
<a name="l00107"></a>00107 };
<a name="l00108"></a>00108
<a name="l00109"></a>00109
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00113"></a>00113 <a class="code" href="classgbxiceutilacfr_1_1Store.html" title="Thread-safe storage for a single data objects.">Store<Type>::Store</a>()
<a name="l00114"></a>00114 : isEmpty_(true),
<a name="l00115"></a>00115 isNewData_(false)
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00120"></a>00120 Store<Type>::~Store()
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00125"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#a2ad270588b78c2141254d024dfc52aa9">00125</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a2ad270588b78c2141254d024dfc52aa9">Store<Type>::isEmpty</a>()<span class="keyword"> const</span>
<a name="l00126"></a>00126 <span class="keyword"></span>{
<a name="l00127"></a>00127 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00128"></a>00128 <span class="keywordflow">return</span> isEmpty_;
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00132"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#a9ad94fcb79126e6fea65a2f3f88ddca0">00132</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a9ad94fcb79126e6fea65a2f3f88ddca0" title="Returns TRUE if the data in the Store has not been accessed with get() yet.">Store<Type>::isNewData</a>()<span class="keyword"> const</span>
<a name="l00133"></a>00133 <span class="keyword"></span>{
<a name="l00134"></a>00134 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00135"></a>00135 <span class="keywordflow">return</span> isNewData_;
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00139"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#ae0dad32492d44a01e70185cb1cbfa1cb">00139</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#ae0dad32492d44a01e70185cb1cbfa1cb">Store<Type>::get</a>( Type & obj )
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00142"></a>00142 <span class="keywordflow">if</span> ( !isEmpty_ )
<a name="l00143"></a>00143 {
<a name="l00144"></a>00144 internalGet( obj );
<a name="l00145"></a>00145 isNewData_ = <span class="keyword">false</span>;
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147 <span class="keywordflow">else</span>
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 <span class="keywordflow">throw</span> <a class="code" href="classgbxutilacfr_1_1Exception.html" title="Base class for all GbxUtilAcfr exceptions.">gbxutilacfr::Exception</a>( ERROR_INFO, <span class="stringliteral">"trying to read from an empty Store."</span> );
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00154"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#a1d2bd86fbe17b1e2027b0afd6fac8558">00154</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a1d2bd86fbe17b1e2027b0afd6fac8558">Store<Type>::peek</a>( Type & obj )<span class="keyword"> const</span>
<a name="l00155"></a>00155 <span class="keyword"></span>{
<a name="l00156"></a>00156 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00157"></a>00157 <span class="keywordflow">if</span> ( !isEmpty_ )
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 internalGet( obj );
<a name="l00160"></a>00160 <span class="comment">// do NOT set isNewData_ to false</span>
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162 <span class="keywordflow">else</span>
<a name="l00163"></a>00163 {
<a name="l00164"></a>00164 <span class="keywordflow">throw</span> <a class="code" href="classgbxutilacfr_1_1Exception.html" title="Base class for all GbxUtilAcfr exceptions.">gbxutilacfr::Exception</a>( ERROR_INFO, <span class="stringliteral">"trying to read from an empty Store."</span> );
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 }
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00169"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#a6b0cd62a7217e2edadbc2ccde18f41d2">00169</a> <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a6b0cd62a7217e2edadbc2ccde18f41d2" title="Waits until the next update and returns the new value. If the Store is empty, getNext...">Store<Type>::getNext</a>( Type & obj, <span class="keywordtype">int</span> timeoutMs )
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171 <span class="comment">// special case: infinite wait time</span>
<a name="l00172"></a>00172 <span class="keywordflow">if</span> ( timeoutMs == -1 ) {
<a name="l00173"></a>00173 <span class="keywordflow">return</span> getNextNoWait( obj );
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment">// finite wait time</span>
<a name="l00177"></a>00177 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment">// if already have data in the buffer, return it and get out</span>
<a name="l00180"></a>00180 <span class="keywordflow">if</span> ( isNewData_ )
<a name="l00181"></a>00181 {
<a name="l00182"></a>00182 internalGet( obj );
<a name="l00183"></a>00183 isNewData_ = <span class="keyword">false</span>;
<a name="l00184"></a>00184 <span class="keywordflow">return</span> 0;
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="comment">// empty buffer: figure out when to wake up</span>
<a name="l00188"></a>00188 <span class="comment">// notice that we are still holding the lock, so it's ok to call timedWait()</span>
<a name="l00189"></a>00189 <span class="keywordflow">if</span> ( this->timedWait( IceUtil::Time::milliSeconds( timeoutMs ) ) )
<a name="l00190"></a>00190 {
<a name="l00191"></a>00191 <span class="comment">// someone woke us up, we are holding the lock again</span>
<a name="l00192"></a>00192 <span class="comment">// check new data again (could be a spurious wakeup)</span>
<a name="l00193"></a>00193 <span class="keywordflow">if</span> ( isNewData_ )
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 internalGet( obj );
<a name="l00196"></a>00196 isNewData_ = <span class="keyword">false</span>;
<a name="l00197"></a>00197 <span class="keywordflow">return</span> 0;
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199 <span class="keywordflow">else</span> {
<a name="l00200"></a>00200 <span class="comment">// spurious wakup, don't wait again, just return</span>
<a name="l00201"></a>00201 <span class="keywordflow">return</span> 1;
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 <span class="keywordflow">else</span> {
<a name="l00205"></a>00205 <span class="comment">// wait timedout, nobody woke us up</span>
<a name="l00206"></a>00206 <span class="keywordflow">return</span> -1;
<a name="l00207"></a>00207 }
<a name="l00208"></a>00208 }
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00211"></a>00211 <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html" title="Thread-safe storage for a single data objects.">Store<Type>::getNextNoWait</a>( Type & obj )
<a name="l00212"></a>00212 {
<a name="l00213"></a>00213 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="comment">// check the condition before and after waiting to deal with spurious wakeups</span>
<a name="l00216"></a>00216 <span class="comment">// (see Ice manual sec. 28.9.2)</span>
<a name="l00217"></a>00217 <span class="keywordflow">while</span> ( !isNewData_ )
<a name="l00218"></a>00218 {
<a name="l00219"></a>00219 this->wait();
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221
<a name="l00222"></a>00222 internalGet( obj );
<a name="l00223"></a>00223 isNewData_ = <span class="keyword">false</span>;
<a name="l00224"></a>00224 <span class="keywordflow">return</span> 0;
<a name="l00225"></a>00225 }
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <span class="comment">// NOTE: see notes on efficient notification in Ice sec. 28.9.3</span>
<a name="l00228"></a>00228 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00229"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#ac0bf7d34583d028405615475ed30c745">00229</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#ac0bf7d34583d028405615475ed30c745" title="Sets the contents of the Store.">Store<Type>::set</a>( <span class="keyword">const</span> Type &obj )
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00232"></a>00232
<a name="l00233"></a>00233 internalSet( obj );
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="comment">// mark as having new data (nobody has looked at it yet)</span>
<a name="l00236"></a>00236 isNewData_ = <span class="keyword">true</span>;
<a name="l00237"></a>00237
<a name="l00238"></a>00238 <span class="comment">// mark Store non-empty (only usefull the very first time)</span>
<a name="l00239"></a>00239 isEmpty_ = <span class="keyword">false</span>;
<a name="l00240"></a>00240
<a name="l00241"></a>00241 <span class="comment">// wakeup someone who's waiting for an update</span>
<a name="l00242"></a>00242 this->notify();
<a name="l00243"></a>00243 }
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00246"></a><a class="code" href="classgbxiceutilacfr_1_1Store.html#a12aecb60ba03316e3709d15ca7c38622">00246</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html#a12aecb60ba03316e3709d15ca7c38622">Store<Type>::purge</a>()
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>);
<a name="l00249"></a>00249 isEmpty_ = <span class="keyword">true</span>;
<a name="l00250"></a>00250 }
<a name="l00251"></a>00251
<a name="l00252"></a>00252 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00253"></a>00253 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Store.html" title="Thread-safe storage for a single data objects.">Store<Type>::internalGet</a>( Type & obj )<span class="keyword"> const</span>
<a name="l00254"></a>00254 <span class="keyword"></span>{
<a name="l00255"></a>00255 obj = obj_;
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257
<a name="l00258"></a>00258 <span class="keyword">template</span><<span class="keyword">class</span> Type>
<a name="l00259"></a>00259 <span class="keywordtype">void</span> Store<Type>::internalSet( <span class="keyword">const</span> Type & obj )
<a name="l00260"></a>00260 {
<a name="l00261"></a>00261 obj_ = obj;
<a name="l00262"></a>00262 }
<a name="l00263"></a>00263
<a name="l00264"></a>00264 } <span class="comment">// end namespace</span>
<a name="l00265"></a>00265
<a name="l00266"></a>00266 <span class="preprocessor">#endif</span>
</pre></div></div>
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