include/dynamic-graph/signal.h

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SIGNAL_HH
#define __SIGNAL_HH
 
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/signal-base.h>
 
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <string>
 
#ifdef HAVE_LIBBOOST_THREAD
#include <boost/thread.hpp>
#endif
 
namespace dynamicgraph {
 
template <class T, class Time>
class Signal : public SignalBase<Time> {
 protected:
  enum SignalType { CONSTANT, REFERENCE, REFERENCE_NON_CONST, FUNCTION };
  static const SignalType SIGNAL_TYPE_DEFAULT = CONSTANT;
 
  SignalType signalType;
  T Tcopy1, Tcopy2;
  T *Tcopy;
  bool copyInit;
 
  const T *Treference;
  T *TreferenceNonConst;
  boost::function2<T &, T &, Time> Tfunction;
 
  bool keepReference;
  const static bool KEEP_REFERENCE_DEFAULT = false;
 
 public:
#ifdef HAVE_LIBBOOST_THREAD
  typedef boost::try_mutex Mutex;
  typedef boost::lock_error MutexError;
#else
  typedef int *Mutex;
  typedef int *MutexError;
#endif
 
 protected:
  Mutex *providerMutex;
  using SignalBase<Time>::signalTime;
 
 public:
  using SignalBase<Time>::setReady;
 
 public:
  /* --- Constructor/destrusctor --- */
  Signal(std::string name);
  virtual ~Signal() {}
 
  /* --- Generic In/Out function --- */
  virtual void get(std::ostream &value) const;
  virtual void set(std::istringstream &value);
  virtual void trace(std::ostream &os) const;
 
  /* --- Generic Set function --- */
  virtual void setConstant(const T &t);
  virtual void setReference(const T *t, Mutex *mutexref = NULL);
  virtual void setReferenceNonConstant(T *t, Mutex *mutexref = NULL);
  virtual void setFunction(boost::function2<T &, T &, Time> t,
                           Mutex *mutexref = NULL);
 
  inline bool getKeepReference() { return keepReference; }
  inline void setKeepReference(const bool &b) { keepReference = b; }
 
  /* --- Signal computation --- */
  virtual const T &access(const Time &t);
  virtual inline void recompute(const Time &t) { access(t); }
  virtual const T &accessCopy() const;
 
  virtual std::ostream &display(std::ostream &os) const;
 
  /* --- Operators --- */
  virtual inline const T &operator()(const Time &t) { return access(t); }
  virtual Signal<T, Time> &operator=(const T &t);
  inline operator const T &() const { return accessCopy(); }
  virtual void getClassName(std::string &aClassName) const {
    aClassName = typeid(this).name();
  }
 
 private:
  const T &setTcopy(const T &t);
  T &getTwork();
  const T &getTwork() const;
  const T &switchTcopy();
};
 
}  // end of namespace dynamicgraph
 
#include <dynamic-graph/signal.t.cpp>
 
#endif  // #ifndef __SIGNAL_HH
 
/*
 * Local variables:
 * c-basic-offset: 4
 * End:
 */