signal.t.cpp

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// -*- mode: c++ -*-
// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
// JRL, CNRS/AIST.
//

#ifndef DYNAMIC_GRAPH_SIGNAL_T_CPP
#define DYNAMIC_GRAPH_SIGNAL_T_CPP
#include <dynamic-graph/signal-caster.h>
#include <dynamic-graph/signal.h>

#undef VP_TEMPLATE_DEBUG_MODE
#define VP_TEMPLATE_DEBUG_MODE 0
#include <dynamic-graph/debug.h>

#define __SIGNAL_INIT(name, Tcpy, Tref, TrefNC, mutex)                   \
  SignalBase<Time>(name), signalType(SIGNAL_TYPE_DEFAULT), Tcopy1(Tcpy), \
      Tcopy2(Tcpy), Tcopy(&Tcopy1), Treference(Tref),                    \
      TreferenceNonConst(TrefNC), Tfunction(),                           \
      keepReference(KEEP_REFERENCE_DEFAULT), providerMutex(mutex)

namespace dynamicgraph {

template <class T, class Time>
Signal<T, Time>::Signal(std::string name)
    : __SIGNAL_INIT(name, T(), NULL, NULL, NULL) {
  return;
}

/* ------------------------------------------------------------------------ */

template <class T, class Time>
void Signal<T, Time>::set(std::istringstream &stringValue) {
  (*this) = signal_io<T>::cast(stringValue);
}

template <class T, class Time>
void Signal<T, Time>::get(std::ostream &os) const {
  signal_io<T>::disp(this->accessCopy(), os);
}

template <class T, class Time>
void Signal<T, Time>::trace(std::ostream &os) const {
  try {
    signal_io<T>::trace(this->accessCopy(), os);
  } catch DG_RETHROW catch (...) {
    DG_THROW ExceptionSignal(ExceptionSignal::SET_IMPOSSIBLE,
                             "TRACE operation not possible with this signal. ",
                             "(bad cast while getting value from %s).",
                             SignalBase<Time>::getName().c_str());
  }
}

/* ------------------------------------------------------------------------ */

template <class T, class Time>
const T &Signal<T, Time>::setTcopy(const T &t) {
  if (Tcopy == &Tcopy1) {
    Tcopy2 = t;
    copyInit = true;
    Tcopy = &Tcopy2;
    return Tcopy2;
  } else {
    Tcopy1 = t;
    copyInit = true;
    Tcopy = &Tcopy1;
    return Tcopy1;
  }
}

template <class T, class Time>
T &Signal<T, Time>::getTwork() {
  if (Tcopy == &Tcopy1)
    return Tcopy2;
  else
    return Tcopy1;
}

template <class T, class Time>
const T &Signal<T, Time>::getTwork() const {
  if (Tcopy == &Tcopy1)
    return Tcopy2;
  else
    return Tcopy1;
}

template <class T, class Time>
const T &Signal<T, Time>::switchTcopy() {
  if (Tcopy == &Tcopy1) {
    Tcopy = &Tcopy2;
    return Tcopy2;
  } else {
    Tcopy = &Tcopy1;
    return Tcopy1;
  }
}

template <class T, class Time>
void Signal<T, Time>::setConstant(const T &t) {
  signalType = CONSTANT;
  setTcopy(t);
  setReady();
}

template <class T, class Time>
void Signal<T, Time>::setReference(const T *t, Mutex *mutexref) {
  signalType = REFERENCE;
  Treference = t;
  providerMutex = mutexref;
  copyInit = false;
  setReady();
}

template <class T, class Time>
void Signal<T, Time>::setReferenceNonConstant(T *t, Mutex *mutexref) {
  signalType = REFERENCE_NON_CONST;
  Treference = t;
  TreferenceNonConst = t;
  providerMutex = mutexref;
  copyInit = false;
  setReady();
}

template <class T, class Time>
void Signal<T, Time>::setFunction(boost::function2<T &, T &, Time> t,
                                  Mutex *mutexref) {
  signalType = FUNCTION;
  Tfunction = t;
  providerMutex = mutexref;
  copyInit = false;
  setReady();
}

template <class T, class Time>
const T &Signal<T, Time>::accessCopy() const {
  return *Tcopy;
}

template <class T, class Time>
const T &Signal<T, Time>::access(const Time &t) {
  switch (signalType) {
    case REFERENCE:
    case REFERENCE_NON_CONST: {
      if (NULL == providerMutex) {
        copyInit = true;
        signalTime = t;
        return setTcopy(*Treference);
      } else {
        try {
#ifdef HAVE_LIBBOOST_THREAD
          boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
          copyInit = true;
          signalTime = t;
          return setTcopy(*Treference);
        } catch (const MutexError &) {
          return accessCopy();
        }
      }

      break;
    }

    case FUNCTION: {
      if (NULL == providerMutex) {
        signalTime = t;
        Tfunction(getTwork(), t);
        copyInit = true;
        return switchTcopy();
      } else {
        try {
#ifdef HAVE_LIBBOOST_THREAD
          boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
          signalTime = t;
          Tfunction(getTwork(), t);
          copyInit = true;
          return switchTcopy();
        } catch (const MutexError &) {
          return accessCopy();
        }
      }
      break;
    }
    case CONSTANT:
    default:
      if (this->getReady()) {
        setReady(false);
        this->setTime(t);
      }
      return accessCopy();
  };
}

template <class T, class Time>
Signal<T, Time> &Signal<T, Time>::operator=(const T &t) {
  if (keepReference && (REFERENCE_NON_CONST == signalType) &&
      (NULL != TreferenceNonConst)) {
    if (NULL == providerMutex) {
      setTcopy(t);
      (*TreferenceNonConst) = t;
    } else {
      try {
#ifdef HAVE_LIBBOOST_THREAD
        boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
        setTcopy(t);
        (*TreferenceNonConst) = t;
      } catch (const MutexError &) { /* TODO ERROR */
      }
    }
  } else {
    setConstant(t);
  }
  return *this;
}

template <class T, class Time>
std::ostream &Signal<T, Time>::display(std::ostream &os) const {
  os << "Sig:" << this->name << " (Type ";
  switch (this->signalType) {
    case Signal<T, Time>::CONSTANT:
      os << "Cst";
      break;
    case Signal<T, Time>::REFERENCE:
      os << "Ref";
      break;
    case Signal<T, Time>::REFERENCE_NON_CONST:
      os << "RefNonCst";
      break;
    case Signal<T, Time>::FUNCTION:
      os << "Fun";
      break;
  }
  return os << ")";
}

}  // end of namespace dynamicgraph.

#undef __SIGNAL_INIT
#endif