Event.hh

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/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_EVENT_HH_
#define _GAZEBO_EVENT_HH_

#include <atomic>
#include <iostream>
#include <vector>
#include <map>
#include <memory>
#include <mutex>
#include <list>

#include <boost/function.hpp>
#include <boost/bind.hpp>

#include <gazebo/gazebo_config.h>
#include <gazebo/common/Time.hh>
#include <gazebo/common/CommonTypes.hh>
#include <gazebo/math/Helpers.hh>
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace event
  {

    // Private data members for Event class.
    // This must be in the header due to templatization.
    class GZ_COMMON_VISIBLE EventPrivate
    {
      // \brief Constructor
      public: EventPrivate();

      public: bool signaled;
    };

    class GZ_COMMON_VISIBLE Event
    {
      public: Event();

      public: virtual ~Event();

      public: virtual void Disconnect(ConnectionPtr _c) = 0;

      public: virtual void Disconnect(int _id) = 0;

      public: bool GetSignaled() const;

      protected: Event(EventPrivate &_d);

      protected: EventPrivate *dataPtr;
    };

    // Private data members for Connection class.
    class GZ_COMMON_VISIBLE ConnectionPrivate
    {
      public: ConnectionPrivate();

      public: ConnectionPrivate(Event *_e, int _i);

      public: Event *event;

      public: int id;

      public: common::Time creationTime;
    };

    class GZ_COMMON_VISIBLE Connection
    {
      public: Connection();

      public: Connection(Event *_e, int _i);

      public: ~Connection();

      public: int GetId() const;

      private: ConnectionPrivate *dataPtr;

      public: template<typename T> friend class EventT;
    };

    template<typename T>
    class EventConnection
    {
      public: EventConnection(const bool _on,
                  boost::function<T> *_cb)
              : on(_on), callback(_cb)
      {
      }

      public: std::atomic_bool on;

      public: std::shared_ptr<boost::function<T> > callback;
    };

    // Private data members for EventT<T> class.
    template< typename T>
    class GZ_COMMON_VISIBLE EventTPrivate : public EventPrivate
    {
      typedef std::map<int, std::shared_ptr<EventConnection<T> > >
        EvtConnectionMap;

      public: EvtConnectionMap connections;

      public: std::mutex mutex;

      public: std::list<typename EvtConnectionMap::const_iterator>
              connectionsToRemove;
    };

    template< typename T>
    class EventT : public Event
    {
      public: EventT();

      public: virtual ~EventT();

      public: ConnectionPtr Connect(const boost::function<T> &_subscriber);

      public: virtual void Disconnect(ConnectionPtr _c);

      public: virtual void Disconnect(int _id);

      public: unsigned int ConnectionCount() const;

      public: void operator()()
              {this->Signal();}

      public: template< typename P >
              void operator()(const P &_p)
      {
        this->Signal(_p);
      }

      public: template< typename P1, typename P2 >
              void operator()(const P1 &_p1, const P2 &_p2)
      {
        this->Signal(_p1, _p2);
      }

      public: template< typename P1, typename P2, typename P3 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3)
      {
        this->Signal(_p1, _p2, _p3);
      }

      public: template< typename P1, typename P2, typename P3, typename P4 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4)
      {
        this->Signal(_p1, _p2, _p3, _p4);
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4, const P5 &_p5)
      {
        this->Signal(_p1, _p2, _p3, _p4, _p5);
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4, const P5 &_p5, const P6 &_p6)
      {
        this->Signal(_p1, _p2, _p3, _p4, _p5, _p6);
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6, typename P7 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4, const P5 &_p5, const P6 &_p6,
                              const P7 &_p7)
      {
        this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7);
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6, typename P7, typename P8 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4, const P5 &_p5, const P6 &_p6,
                              const P7 &_p7, const P8 &_p8)
      {
        this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8);
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6, typename P7, typename P8,
                        typename P9 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4, const P5 &_p5, const P6 &_p6,
                              const P7 &_p7, const P8 &_p8, const P9 &_p9)
      {
        this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9);
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6, typename P7, typename P8,
                        typename P9, typename P10 >
              void operator()(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                              const P4 &_p4, const P5 &_p5, const P6 &_p6,
                              const P7 &_p7, const P8 &_p8, const P9 &_p9,
                              const P10 &_p10)
      {
        this->Signal(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9, _p10);
      }

      public: void Signal()
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)();
        }
      }

      public: template< typename P >
              void Signal(const P &_p)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)(_p);
        }
      }

      public: template< typename P1, typename P2 >
              void Signal(const P1 &_p1, const P2 &_p2)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)(_p1, _p2);
        }
      }

      public: template< typename P1, typename P2, typename P3 >
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)(_p1, _p2, _p3);
        }
      }

      public: template<typename P1, typename P2, typename P3, typename P4>
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                          const P4 &_p4)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)(_p1, _p2, _p3, _p4);
        }
      }

      public: template<typename P1, typename P2, typename P3, typename P4,
                       typename P5>
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                          const P4 &_p4, const P5 &_p5)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)(_p1, _p2, _p3, _p4, _p5);
        }
      }

      public: template<typename P1, typename P2, typename P3, typename P4,
                       typename P5, typename P6>
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                  const P4 &_p4, const P5 &_p5, const P6 &_p6)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
            (*iter.second->callback)(_p1, _p2, _p3, _p4, _p5, _p6);
        }
      }

      public: template<typename P1, typename P2, typename P3, typename P4,
                       typename P5, typename P6, typename P7>
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                  const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections.begin())
        {
          if (iter.second->on)
            (*iter.second->callback)(_p1, _p2, _p3, _p4, _p5, _p6, _p7);
        }
      }

      public: template<typename P1, typename P2, typename P3, typename P4,
                       typename P5, typename P6, typename P7, typename P8>
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                  const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
                  const P8 &_p8)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
          {
            (*iter.second->callback)(_p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8);
          }
        }
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6, typename P7, typename P8,
                        typename P9 >
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                  const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
                  const P8 &_p8, const P9 &_p9)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
          {
            (*iter.second->callback)(
                _p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9);
          }
        }
      }

      public: template< typename P1, typename P2, typename P3, typename P4,
                        typename P5, typename P6, typename P7, typename P8,
                        typename P9, typename P10 >
              void Signal(const P1 &_p1, const P2 &_p2, const P3 &_p3,
                  const P4 &_p4, const P5 &_p5, const P6 &_p6, const P7 &_p7,
                  const P8 &_p8, const P9 &_p9, const P10 &_p10)
      {
        this->Cleanup();

        this->myDataPtr->signaled = true;
        for (auto iter: this->myDataPtr->connections)
        {
          if (iter.second->on)
          {
            (*iter.second->callback)(
                _p1, _p2, _p3, _p4, _p5, _p6, _p7, _p8, _p9, _p10);
          }
        }
      }

      private: void Cleanup();

      private: EventTPrivate<T> *myDataPtr;
    };

    template<typename T>
    EventT<T>::EventT()
    : Event(*(new EventTPrivate<T>()))
    {
      this->myDataPtr = static_cast<EventTPrivate<T>*>(this->dataPtr);
    }

    template<typename T>
    EventT<T>::~EventT()
    {
      this->myDataPtr->connections.clear();
    }

    template<typename T>
    ConnectionPtr EventT<T>::Connect(const boost::function<T> &_subscriber)
    {
      int index = 0;
      if (!this->myDataPtr->connections.empty())
      {
        auto const &iter = this->myDataPtr->connections.rbegin();
        index = iter->first + 1;
      }
      this->myDataPtr->connections[index].reset(new EventConnection<T>(true,
          new boost::function<T>(_subscriber)));
      return ConnectionPtr(new Connection(this, index));
    }

    template<typename T>
    void EventT<T>::Disconnect(ConnectionPtr _c)
    {
      if (!_c)
        return;

      this->Disconnect(_c->GetId());
      _c->dataPtr->event = NULL;
      _c->dataPtr->id = -1;
    }

    template<typename T>
    unsigned int EventT<T>::ConnectionCount() const
    {
      return this->myDataPtr->connections.size();
    }

    template<typename T>
    void EventT<T>::Disconnect(int _id)
    {
      // Find the connection
      auto const &it = this->myDataPtr->connections.find(_id);

      if (it != this->myDataPtr->connections.end())
      {
        it->second->on = false;
        this->myDataPtr->connectionsToRemove.push_back(it);
      }
    }

    template<typename T>
    void EventT<T>::Cleanup()
    {
      std::lock_guard<std::mutex> lock(this->myDataPtr->mutex);
      // Remove all queue connections.
      for (auto &conn : this->myDataPtr->connectionsToRemove)
        this->myDataPtr->connections.erase(conn);
      this->myDataPtr->connectionsToRemove.clear();
    }

  }
}
#endif