SensorRegistry.cpp
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00001 /*
00002  * Copyright (C) 2006-2011, SRI International (R)
00003  *
00004  * This program is free software: you can redistribute it and/or modify
00005  * it under the terms of the GNU Lesser General Public License as published by
00006  * the Free Software Foundation, either version 3 of the License, or
00007  * (at your option) any later version.
00008  *
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU Lesser General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU Lesser General Public License
00015  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016  */
00017 
00018 #include <map>
00019 #include <iostream>
00020 
00021 #ifdef USE_TBB
00022 #include <tbb/mutex.h>
00023 #endif
00024 
00025 #include <OpenKarto/SensorRegistry.h>
00026 #include <OpenKarto/Exception.h>
00027 #include <OpenKarto/Sensor.h>
00028 #include <OpenKarto/Logger.h>
00029 
00030 namespace karto
00031 {
00032 
00036 
00037   // Note to not change the Sensor* to SensorPtr or SmartPointer<Sensor>. 
00038   struct SensorRegistryPrivate
00039   {
00040     List<Sensor*> m_Sensors;
00041 
00042     typedef std::map<Identifier, Sensor*> SensorManagerMap;
00043     SensorManagerMap m_SensorMap;
00044   };
00045 
00046   SensorRegistry::SensorRegistry()
00047     : m_pSensorRegistryPrivate(new SensorRegistryPrivate())
00048   {
00049   }
00050 
00051   SensorRegistry::~SensorRegistry()
00052   {
00053     m_pSensorRegistryPrivate->m_Sensors.Clear();
00054     delete m_pSensorRegistryPrivate;
00055   }
00056 
00057   SensorRegistry* SensorRegistry::GetInstance()
00058   {
00059 #ifdef USE_TBB
00060     static tbb::mutex myMutex;
00061     tbb::mutex::scoped_lock lock(myMutex);
00062 #endif
00063 
00064     static SmartPointer<SensorRegistry> sInstance = new SensorRegistry();
00065     return sInstance;
00066   }
00067 
00068   void SensorRegistry::RegisterSensor(Sensor* pSensor)
00069   {
00070     if (pSensor != NULL)
00071     {
00072       if (pSensor->GetIdentifier().GetScope() != "Karto/System")
00073       {
00074         Validate(pSensor);
00075 
00076         Log(LOG_DEBUG, String("Registering sensor: [") + pSensor->GetIdentifier().ToString() + "]");
00077       }
00078 
00079       if ((m_pSensorRegistryPrivate->m_SensorMap.find(karto::Identifier(pSensor->GetIdentifier())) != m_pSensorRegistryPrivate->m_SensorMap.end()))
00080       {
00081         String errorMessage;
00082         errorMessage.Append("Cannot register sensor: already registered: [");
00083         errorMessage.Append(pSensor->GetIdentifier().ToString());
00084         errorMessage.Append("]");
00085 
00086         throw Exception(errorMessage);
00087       }
00088 
00089       m_pSensorRegistryPrivate->m_SensorMap[karto::Identifier(pSensor->GetIdentifier())] = pSensor;
00090       m_pSensorRegistryPrivate->m_Sensors.Add(pSensor);
00091     }
00092   }
00093 
00094   void SensorRegistry::UnregisterSensor(Sensor* pSensor)
00095   {
00096     if (pSensor != NULL)
00097     {
00098       if (pSensor->GetIdentifier().GetScope() != "Karto/System")
00099       {
00100         Log(LOG_DEBUG, String("Unregistering sensor: [") + pSensor->GetIdentifier().ToString() + "]");
00101       }
00102 
00103       if (m_pSensorRegistryPrivate->m_SensorMap.find(pSensor->GetIdentifier()) != m_pSensorRegistryPrivate->m_SensorMap.end())
00104       {
00105         m_pSensorRegistryPrivate->m_SensorMap.erase(pSensor->GetIdentifier());
00106 
00107         m_pSensorRegistryPrivate->m_Sensors.Remove(pSensor);
00108       }
00109       else
00110       {
00111         String errorMessage;
00112         errorMessage.Append("Cannot unregister sensor: not registered: [");
00113         errorMessage.Append(pSensor->GetIdentifier().ToString());
00114         errorMessage.Append("]");
00115 
00116         throw Exception(errorMessage);
00117       }
00118     }
00119   }
00120 
00121   Sensor* SensorRegistry::GetSensorByName(const Identifier& rName)
00122   {
00123     if (m_pSensorRegistryPrivate->m_SensorMap.find(rName) != m_pSensorRegistryPrivate->m_SensorMap.end())
00124     {
00125       Sensor* pSensor = m_pSensorRegistryPrivate->m_SensorMap[rName];
00126 
00127       assert(pSensor != NULL);
00128 
00129       return pSensor;
00130     }
00131 
00132     String errorMessage;
00133     errorMessage.Append("Sensor not registered: [");
00134     errorMessage.Append(rName.ToString());
00135     errorMessage.Append("]");
00136     throw Exception(errorMessage);
00137   }
00138 
00139   void SensorRegistry::Clear()
00140   {
00141     m_pSensorRegistryPrivate->m_Sensors.Clear();
00142     m_pSensorRegistryPrivate->m_SensorMap.clear();
00143   }
00144 
00145   void SensorRegistry::Validate(Sensor* pSensor)
00146   {
00147     if (pSensor == NULL)
00148     {
00149       throw Exception("Invalid sensor: NULL");
00150     }
00151     else if (pSensor->GetIdentifier().Size() == 0)
00152     {
00153       throw Exception("Invalid sensor: Nameless");        
00154     }
00155   }
00156 
00157 }
00158 


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 04:05:24