Robot Simulator of the Robotics Group for Self-Organization of Control: backcaller.h Source File

# backcaller.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __BACKCALLER_H_
    00025 #define __BACKCALLER_H_
    00026
    00027 #include <vector>
    00028 #include <cstddef>
    00029 #include "stl_map.h"
    00030
    00031 class Callbackable;
    00032
    00033 /**
    00034  * Class prototype which provides functions to handle callbackable classes.
    00035  * If a class implements this class, just use the function callBack which
    00036  * calls all registered callbackable classes.
    00037  * If you use different callbackable pools, just use the overloaded functions
    00038  * callBack(CallbackableType type),
    00039  * addCallbackable(CallbackableType, Callbackable* cb) and
    00040  * removeCallbackable(CallbackableType, Callbackable* cb).
    00041  */
    00042 class BackCaller
    00043 {
    00044   public:
    00045     typedef unsigned long CallbackableType;
    00046
    00047     /**
    00048      * This is the default Callbackable type.
    00049      * If you derive from BackCaller, just define your own CallbackableTypes.
    00050      */
    00051     static const CallbackableType DEFAULT_CALLBACKABLE_TYPE = 0;
    00052
    00053     BackCaller();
    00054     virtual ~BackCaller();
    00055
    00056     /**
    00057      * Adds a Callbackable instance to this caller instance.
    00058      * @param type the desired CallbackableType of the Callbackable class.
    00059      * @param callbackableInstance the instance to add
    00060      */
    00061     virtual void addCallbackable(Callbackable* callbackableInstance, CallbackableType type = BackCaller::DEFAULT_CALLBACKABLE_TYPE);
    00062
    00063     /**
    00064      * Removes a Callbackable instance from this caller instance.
    00065      * @param type the CallbackableType of the Callbackable class.
    00066      * @param callbackableInstance
    00067      */
    00068     virtual void removeCallbackable(Callbackable* callbackableInstance, CallbackableType type = BackCaller::DEFAULT_CALLBACKABLE_TYPE);
    00069
    00070     /**
    00071      * Removes all Callbackable instances from this caller instance
    00072      * @param type the CallbackableType of the Callbackable class to be removed.
    00073      */
    00074     virtual void removeAllCallbackables(CallbackableType type /* = BackCaller::DEFAULT_CALLBACKABLE_TYPE */);
    00075
    00076
    00077     /**
    00078      * Calls all registered callbackable classes of the determined type.
    00079      * This is done by Callbackable::doOnCallback(CallbackableType type).
    00080      * You can make this function private/protected if you like.
    00081      * @param type the CallbackableType of the Callbackable classes.
    00082      */
    00083     virtual void callBack(CallbackableType type = BackCaller::DEFAULT_CALLBACKABLE_TYPE);
    00084
    00085     /**
    00086      * Calls all registered callbackable classes of the determined type.
    00087      * This is done by Callbackable::doOnCallback(CallbackableType type).
    00088      * This function uses QUICKMP in order to parallelise the callbacks.
    00089      * Remember that there is only shared the used CallbackableList. So if you
    00090      * have other variables/objects to share, implement your own version.
    00091      * You can make this function private/protected if you like.
    00092      * @param type the CallbackableType of the Callbackable classes.
    00093      */
    00094     virtual void callBackQMP(CallbackableType type = BackCaller::DEFAULT_CALLBACKABLE_TYPE);
    00095
    00096   private:
    00097     struct CallbackableTypeHash
    00098     {
    00099       size_t operator() (const CallbackableType& type) const { return type; }
    00100     };
    00101
    00102     typedef std::vector<Callbackable*> callbackableListType;
    00103     typedef HashMap<CallbackableType, callbackableListType*, CallbackableTypeHash> callbackableMapType;
    00104     /**
    00105      * This hashmap holds every list of Callbackables for each CallbackableType.
    00106      */
    00107     callbackableMapType callbackableMap;
    00108 };
    00109
    00110 #endif /* __BACKCALLER_H_ */