mailbox.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_MAILBOX_HH
#define __SOT_MAILBOX_HH

/* --- SOT PLUGIN  --- */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>

/* --- BOOST --- */
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <boost/thread/xtime.hpp>

/* --- STD --- */
#include <time.h>
#ifndef WIN32
#include <sys/time.h>
#else
#include <sot/core/utils-windows.hh>
#endif /*WIN32*/
#include <string>

namespace dynamicgraph {
namespace sot {

namespace dg = dynamicgraph;

template <class Object>
struct MailboxTimestampedObject {
  Object obj;
  struct timeval timestamp;
};

template <class Object>
class Mailbox : public dg::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }

 public:
  typedef MailboxTimestampedObject<Object> sotTimestampedObject;

 public:
  Mailbox(const std::string &name);
  ~Mailbox(void);

  void post(const Object &obj);
  sotTimestampedObject &get(sotTimestampedObject &res, const int &dummy);

  Object &getObject(Object &res, const int &time);
  struct timeval &getTimestamp(struct timeval &res, const int &time);

  bool hasBeenUpdated(void);

 protected:
  boost::timed_mutex mainObjectMutex;
  Object mainObject;
  struct timeval mainTimeStamp;
  bool update;

 public: /* --- SIGNALS --- */
  dynamicgraph::SignalTimeDependent<sotTimestampedObject, int> SOUT;
  dynamicgraph::SignalTimeDependent<Object, int> objSOUT;
  dynamicgraph::SignalTimeDependent<struct timeval, int> timeSOUT;
};

} /* namespace sot */

template <class Object>
struct signal_io<sot::MailboxTimestampedObject<Object> >
    : signal_io_unimplemented<sot::MailboxTimestampedObject<Object> > {};

template <>
struct signal_io<timeval> : signal_io_unimplemented<timeval> {};
} /* namespace dynamicgraph */

#endif  // #ifndef  __SOT_MAILBOX_HH