EventRouter Class Reference

This class will handle distribution of events as well as management of timers. More...

#include <EventRouter.h>

Inheritance diagram for EventRouter:

[legend]

---

Detailed Description

This class will handle distribution of events as well as management of timers.

Classes must inherit from EventListener and/or EventTrapper in order to receive events.

Use the global erouter instance of EventRouter to both send (post) and receive (subscribe/listen) to events. (except if you are posting from within a MotionCommand, in which case you should use MotionCommand::postEvent() so that it can correctly handle inter-process communication issues under Aperios (the Aibo's OS) -- under a Unix-based OS, this isn't necessary.) Events posted in non-Main processes will be forwarded to Main for processing.

Event processing is a serialized operation, meaning only one event is ever being processed at a time, and by one listener at a time. The EventRouter contains its own thread lock, so if two threads post events at the same time, the EventRouter will handle ensuring mutual exclusion. Listeners are free to spawn their own threads to handle processing or posting events to avoid being dependent on other listeners' processing times. (Note: threads are not available on the Aibo, so listeners which wish to run on the Aibo are stuck with a "cooperative" multitasking model)

The events available for processing are listed in EventBase::EventGeneratorID_t. Each generator ID's documentation specifies how to interpret the source ID field, and whether you can expect events with that generator ID to be of a subclass of EventBase, such as TextMsgEvent or LocomotionEvent. Many generators send plain EventBase instances.

When multiple listeners are subscribed, the order in which an event is distributed among them is:

1. "Specific" listeners: any listener which specifies a particular source id. (doesn't matter if they specified type id as well)
   • older listeners get events before more recently added listeners ("FIFO")
2. "General" listeners: those that subscribe to an entire generator
   • older listeners get events before more recently added listeners ("FIFO")

...but if you're relying on that ordering, there probably should be a cleaner way to do whatever you're doing.

TimerEvents are generally only sent to the generator which requested them. So if EventListener A requests a timer (see addTimer()) with ID 0 at two second intervals, and B requests a timer with ID 0 at three second intervals, each will still only receive the timers they requested - no cross talk. The timer generator is unique in this regard, which is why it is built in as an integral component of the EventRouter. However, EventListener A can receive B's timers if it specifically wants to, via addListener(). See "Timers" below.

If an EventListener/EventTrapper subscribes to the same event source multiple times, it will receive multiple copies of the event. However, the first call to removeListener for a source will remove all subscriptions to that source.
Example: EventListener A subscribes to (buttonEGID,*,*), and twice to (buttonEGID,0,*).

• If button 0 is pressed, A will get three copies of the event.
• If button 1 is pressed, A will get one copy.
• If removeListener(&A,buttonEGID) is called, the (buttonEGID,*,*) is removed, as well as both of (buttonEGID,0,*).
• If removeListener(&A,buttonEGID,0) is called, both of (buttonEGID,0,*) are removed, but (buttonEGID,*,*) would be untouched.

Timers

addTimer() allows you to request an TimerEvent to be sent at some later point in time, possibly on a repeating basis. Timers are specific to the behavior which requests them, and you do not (and usually should not) call addListener() in order to receive a timer event.

There is an important different between addTimer() and addListener(timerEGID,...)! addTimer will "create" the timer, and will send the timer to the listener which created it when the timer expires. This means that as long as the listener in question does not call addListener(timerEGID), it will only receive its own timers. In other words, with this usage there is no confusion with timer cross-talk between listeners, because each listener is only receiving its own timers.

However, if a listener calls addListener(timerEGID), it will begin receiving all timer events from throughout the system. This allows you to have one behavior "eavesdrop" on another's timers. In order to determine which listener requested/created the timer, you can use the TimerEvent::getTarget() value.

So beware that if you call both addTimer() and addListener(foo,timerEGID), 'foo' will get two calls to processEvent() for its own timers, and one call for all other timers, and will have to know to call TimerEvent::getTarget() to distinguish its timers from other listener's timers (if it cares about the difference...)

Timers are sent to the requesting listener before being broadcast -- EventTrappers cannot filter a listener's own timers, but can prevent the timer from being broadcast to other listeners.

Event processing examples:

Posting events: //method A: basic event posting (EventBase instance is sent) erouter->postEvent(EventBase::aiEGID, 1234, EventBase::statusETID);

//method B: specific event instance is posted (have to use this style to post a subclass) TextMsgEvent txt("hello world"); erouter->postEvent(txt); // or can be done in one line: erouter->postEvent(TextMsgEvent("hello world"))

Receiving events:

  //given an EventListener subclass:
  class YourListener : public EventListener {
  public:
    virtual void processEvent(const EventBase& e) {
      std::cout << "Got: " << e.getName() << std::endl;
    }
  };

  YourListener yourList;

  // subscribes it to all EventBase::aiEGID events:
  erouter->addListener(&yourList, EventBase::aiEGID);

  // subscribes only to button activity from the head, but not other buttons:
  erouter->addListener(&yourList, EventBase::buttonEGID, ERS7Info::HeadButOffset);

Typically in a BehaviorBase subclass, you would just specify 'this' instead of '&yourList'.

Timer processing examples:

Requesting/Creating timers:

  YourListener yourList; // (any EventListener subclass)

  // sends a timer with source ID 123 every 5 seconds to yourList:
  erouter->addTimer(&yourList, 123, 5000);

  // sends a timer with ID 456 after 1 second, *no repeat, one time only*
  erouter->addTimer(&yourList, 456, 1000, false);

  // cancels the first timer
  erouter->removeTimer(&yourList, 123);

  // postpone/update the second timer's settings (*doesn't* create two timers with the same ID)
  erouter->addTimer(&yourList, 456, 2500, false);

Again, typically in a BehaviorBase subclass, you would just specify 'this' instead of '&yourList'.

See also:

EventBase::EventGeneratorID_t for a complete listing of all generators, as well as instructions on how to add new generators.

Tutorials:

• Steps 3, 4, & 5 of Tekkotsu's First Behavior Tutorial
• David Touretzky's Events Chapter
• CMU's Cognitive Robotics course slides

Definition at line 174 of file EventRouter.h.

List of all members.

Classes
class	EventMapper
	Does the actual storage of the mapping between EventBase's and the EventListeners/EventTrappers who should receive them. More...
class	PostingStatus
	contains information regarding the progress of posting an event More...
struct	SameID
	Predicate used to remove old events from the same event source from eventQueue (see requeueEvent()). More...
struct	TimerEntry
	Contains all the information needed to maintain a timer by the EventRouter. More...
class	TimerEntryPtrCmp
	Used by STL to sort the timer list in order of activation time. More...
Public Member Functions
	EventRouter ()
	Constructs the router.
virtual	~EventRouter ()
	just calls reset and removeAllTimers()
void	reset ()
	erases all listeners, trappers and timers, resets EventRouter
void	removeListener (const EventListener *el)
	stops sending ALL events to the listener -- does not remove pending timers however (may need to call removeTimer(el) as well); see remove()
void	removeListener (const EventListener *el, EventBase::EventGeneratorID_t egid)
	stops sending specified events from the generator to the listener.
void	removeListener (const EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid)
	stops sending specified events from the generator to the listener.
void	removeListener (const EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	stops sending specified events from the generator to the listener.
void	removeListener (const EventListener *el, const EventBase &e)
	Uses the generator, source, and type fields of e to remove a listener for that specific tuple.
void	remove (const EventListener *el)
	stops all events and timers, shorthand for removeListener(el) and removeTimer(el); Note that trappers are separate, removeTrapper() is not called
Posting/Processing Events
void	postEvent (EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid, unsigned int dur=0)
	recommended to create and post an event using current buffer setting
void	postEvent (EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid, unsigned int dur, const std::string &n, float m)
	recommended to create and post an event using current buffer setting
void	postEvent (EventBase *e) ATTR_deprecated
	deprecated -- pass by reference instead; this version posts the specified event and then deletes it after processing is complete
void	postEvent (const EventBase &e)
	posts the specified event, but doesn't delete it at the end -- equivalent to processEvent(e)
void	queueEvent (EventBase *e)
	Uses a ThreadedMessageQueue to process an event at a later time, as opposed to postEvent() which will process the event immediately.
void	requeueEvent (EventBase *e)
	Places e in the same queue as queueEvent(), but removes any other events with the same generator and source first.
void	processTimers ()
	determines if timers need to be posted, and posts them if so.
void	processEvent (const EventBase &e)
	sends event to its trappers & listeners, but doesn't delete the event at the end (see also postEvent())
EventTranslator *	getForwardingAgent (ProcessID::ProcessID_t proc) const
	returns the forwarding agent for a given process/thread group (see forwards)
void	setForwardingAgent (ProcessID::ProcessID_t proc, EventTranslator *trans)
	sets the forwarding agent for a given process/thread group (see forwards)
ThreadedMessageQueue < EventBase * > &	getEventQueue ()
	Returns the event queue, to be processed by a callback thread between other behavior processing.
Listener/Trapper Recall
bool	isListeningAny (const EventListener *el, EventBase::EventGeneratorID_t egid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isListeningAny (const EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isListeningAll (const EventListener *el, EventBase::EventGeneratorID_t egid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isListeningAll (const EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isListening (const EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isListening (const EventListener *el, const EventBase &e) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isTrappingAny (const EventTrapper *el, EventBase::EventGeneratorID_t egid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isTrappingAny (const EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isTrappingAll (const EventTrapper *el, EventBase::EventGeneratorID_t egid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isTrappingAll (const EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isTrapping (const EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
bool	isTrapping (const EventTrapper *el, const EventBase &e) const
	returns true if the specified listener/trapper would receive any events that match the specified criteria
Listener/Trapper Detection
bool	hasListeners (EventBase::EventGeneratorID_t egid)
	counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...
bool	hasListeners (EventBase::EventGeneratorID_t egid, size_t sid)
	counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...
bool	hasListeners (EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...
bool	hasListeners (const EventBase &e)
	counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...
Timer Management
void	addTimer (EventListener *el, size_t sid, unsigned int delay, bool repeat=true)
	adds a timer if it doesn't exist, or resets the timer if it already exists.
void	addTimer (EventListener *el, const EventBase &e, bool repeat=true)
	calls the other addTimer() with the event's source id and duration, doesn't check to see if the generator is timerEGID
void	removeTimer (const EventListener *el)
	clears all pending timers for listener el; see remove()
void	removeTimer (const EventListener *el, size_t sid)
	clears any pending timers with source id sid for listener el
void	removeTimer (const EventListener *el, EventBase &e)
	clears any pending timers with source id matching that of e, but only if e has generator timerEGID
void	removeAllTimers ()
	clears all timers for all listeners
unsigned int	getNextTimer ()
	returns time of next timer activation
const TimerEntry *	getNextTimerInfo (const EventListener *el)
	Returns information of next timer activation (regardless of sid) for an event listener, NULL if none.
const TimerEntry *	getNextTimerInfo (const EventListener *el, size_t sid)
	Returns information of next activation for a specific event listener timer entry, NULL if none.
Listener Management
void	addListener (EventListener *el, EventBase::EventGeneratorID_t egid)
	Adds a listener for all events from a given event generator.
void	addListener (EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid)
	Adds a listener for all types from a specific source and generator.
void	addListener (EventListener *el, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	Adds a listener for a specific source id and type from a given event generator.
void	addListener (EventListener *el, const EventBase &e)
	Uses the generator, source, and type fields of e to add a listener for that specific tuple.
Trapper Management
void	addTrapper (EventTrapper *el, const EventBase &e)
	Adds a trapper for a specific source id and type from a given event generator.
void	addTrapper (EventTrapper *el, EventBase::EventGeneratorID_t egid)
	Adds a trapper for all events from a given event generator.
void	addTrapper (EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid)
	Adds a trapper for all types from a specific source and generator.
void	addTrapper (EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	Adds a trapper for a specific source id and type from a given event generator.
void	addTrapper (EventTrapper *el)
	adds a trapper for ALL events
void	removeTrapper (const EventTrapper *el, const EventBase &e)
	stops sending specified events from the generator to the trapper.
void	removeTrapper (const EventTrapper *el, EventBase::EventGeneratorID_t egid)
	stops sending specified events from the generator to the trapper.
void	removeTrapper (const EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid)
	stops sending specified events from the generator to the trapper.
void	removeTrapper (const EventTrapper *el, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	stops sending specified events from the generator to the trapper.
void	removeTrapper (const EventTrapper *el)
	stops sending ALL events to the trapper
Protected Types
typedef std::vector < TimerEntry * >::iterator	timer_it_t
	makes code more readable
Protected Member Functions
void	chkTimers ()
	just for debugging
void	dispTimers ()
	just for debugging
Protected Attributes
std::vector< TimerEntry * >	timers
	the list of timer entries being maintained, kept sorted by time they go active
EventMapper	trappers
	A mapping of which EventTrapper's should get a chance to trap the event.
EventMapper	listeners
	A mapping of which EventListener's should receive events.
std::queue< PostingStatus * >	postings
	stores calls to post() currently in progress -- may grow if one postEvent() triggers another; this allows us to finish processing of the original postEvent() before starting the second.
EventTranslator *	forwards [ProcessID::NumProcesses]
	This table will be checked on each processEvent to forward the event to some other destination.
ThreadedMessageQueue < EventBase * > *	eventQueue
	A queue of events which have been posted from background threads or otherwise desire postponed processing.
Private Member Functions
	EventRouter (const EventRouter &)
	don't call this
EventRouter &	operator= (const EventRouter &)
	don't call this
Remote Event/State code
static const int	defaultPort = 2424
	Request remote events to be sent to this robot, works like the regular addListeners.
std::list< EventProxy * >	proxies
	Request remote events to be sent to this robot, works like the regular addListeners.
std::map< int, RemoteRouter * >	rrouters
	Request remote events to be sent to this robot, works like the regular addListeners.
Socket *	sck
	Request remote events to be sent to this robot, works like the regular addListeners.
int	nextProxyPort
	Request remote events to be sent to this robot, works like the regular addListeners.
void	addRemoteListener (EventListener *el, int host, EventBase::EventGeneratorID_t egid)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	addRemoteListener (EventListener *el, int host, EventBase::EventGeneratorID_t egid, size_t sid)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	addRemoteListener (EventListener *el, int host, const EventBase &e)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	addRemoteListener (EventListener *el, int host, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	removeRemoteListener (const EventListener *el, int host, EventBase::EventGeneratorID_t egid)
	Stop getting remote events from the given robot.
void	removeRemoteListener (const EventListener *el, int host, EventBase::EventGeneratorID_t egid, size_t sid)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	removeRemoteListener (const EventListener *el, int host, const EventBase &e)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	removeRemoteListener (const EventListener *el, int host, EventBase::EventGeneratorID_t egid, size_t sid, EventBase::EventTypeID_t etid)
	Request remote events to be sent to this robot, works like the regular addListeners.
void	requestRemoteStateUpdates (int host, RemoteState::StateType type, unsigned int interval=500)
	Request remote state updates from the remote robot, every interval ms.
void	stopRemoteStateUpdates (int host, RemoteState::StateType type)
	Stop getting remote state updates.
bool	serveRemoteEventRequests ()
	This is called once on startup; it tells the EventRouter to listen for incoming requests.
int	processData (char *data, int bytes)
	This handles incomiung connection requests by starting a new EventProxy.
RemoteRouter &	remoteRouterForHost (int host)
	Request remote events to be sent to this robot, works like the regular addListeners.

---

Member Typedef Documentation

typedef std::vector<TimerEntry*>::iterator EventRouter::timer_it_t [protected]

makes code more readable

Definition at line 418 of file EventRouter.h.

---

Constructor & Destructor Documentation

EventRouter::EventRouter

(

)

Constructs the router.

Definition at line 26 of file EventRouter.cc.

EventRouter::~EventRouter

(

)

[virtual]

just calls reset and removeAllTimers()

Definition at line 40 of file EventRouter.cc.

EventRouter::EventRouter

(

const EventRouter &

)

[private]

don't call this

---

Member Function Documentation

void EventRouter::addListener	(	EventListener *	el,
		const EventBase &	e
	)

Uses the generator, source, and type fields of e to add a listener for that specific tuple.

Definition at line 218 of file EventRouter.cc.

void EventRouter::addListener	(	EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

Adds a listener for a specific source id and type from a given event generator.

Definition at line 210 of file EventRouter.cc.

void EventRouter::addListener	(	EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

Adds a listener for all types from a specific source and generator.

Definition at line 201 of file EventRouter.cc.

void EventRouter::addListener	(	EventListener *	el,
		EventBase::EventGeneratorID_t	egid
	)

Adds a listener for all events from a given event generator.

Definition at line 193 of file EventRouter.cc.

Referenced by WalkCalibration::activate(), TorqueCalibrate::TakeMeasurementControl::activate(), PostureEditor::activate(), addRemoteListener(), EventGeneratorBase::addSrcListener(), FlashIPAddrBehavior::doEvent(), SensorObserverControl::doSelect(), EventLogger::doSelect(), WorldStateSerializerBehavior::doStart(), WMMonitorBehavior::doStart(), SegCam::doStart(), RegionCam::doStart(), RawCam::doStart(), DualCoding::Lookout::doStart(), FlashIPAddrBehavior::doStart(), EventGeneratorBase::doStart(), EStopController::doStart(), EchoBehavior::doStart(), DepthCam::doStart(), DeadReckoningBehavior< ParticleT >::doStart(), Controller::doStart(), CameraBehavior::doStart(), BatteryMonitorBehavior::doStart(), MoCapLogger::gotTxtMsgSingle(), EventProxy::handleRemoteRequest(), BehaviorBase::MonitorMotion::monitor(), ValueEditControl< T >::pause(), WaypointEngineNode< W, mcName, mcDesc >::postStart(), VisualTargetTrans::postStart(), VisualTargetCloseTrans::postStart(), TimeOutTrans::postStart(), SpeechNode::postStart(), SignalTrans< T >::postStart(), MapBuilderNode::postStart(), LogNode::postStart(), GrasperTrans::postStart(), GrasperNode::postStart(), CompletionTrans::postStart(), CompareTrans< T >::postStart(), TextMsgTrans::preStart(), RecordMotionNode::preStart(), MCNodeBase::preStart(), DualCoding::MapBuilder::preStart(), LostTargetTrans::preStart(), EventTrans::preStart(), DualCoding::Lookout::processPointAtEvent(), DualCoding::Lookout::processScanEvent(), CameraStreamBehavior::receiveData(), MoCapLogger::refresh(), MoCapLogger::registered(), EventLogger::runCommand(), RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), EventGeneratorBase::setAutoListen(), MCNodeBase::setMC(), DualCoding::Lookout::setupSearch(), DualCoding::Lookout::setupTrack(), SoundNode::startPlaying(), TorqueCalibrate::TakeMeasurementControl::transition(), and DualCoding::Lookout::triggerScanMotionSequence().

void EventRouter::addRemoteListener	(	EventListener *	el,
		int	host,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 247 of file EventRouter.cc.

void EventRouter::addRemoteListener	(	EventListener *	el,
		int	host,
		const EventBase &	e
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 243 of file EventRouter.cc.

void EventRouter::addRemoteListener	(	EventListener *	el,
		int	host,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 236 of file EventRouter.cc.

void EventRouter::addRemoteListener	(	EventListener *	el,
		int	host,
		EventBase::EventGeneratorID_t	egid
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 229 of file EventRouter.cc.

Referenced by addRemoteListener().

void EventRouter::addTimer	(	EventListener *	el,
		const EventBase &	e,
		bool	repeat = true
	)

calls the other addTimer() with the event's source id and duration, doesn't check to see if the generator is timerEGID

Definition at line 281 of file EventRouter.h.

Referenced by addTimer().

void EventRouter::addTimer	(	EventListener *	el,
		size_t	sid,
		unsigned int	delay,
		bool	repeat = true
	)

adds a timer if it doesn't exist, or resets the timer if it already exists.

timers are unique by EventListener and source ID - can't have two timers for the same el and sid
a delay of 0 with repeating will cause an event to be sent at every opportunity, use sparingly
a delay of -1U will call removeTimer() if it already exists, otherwise is ignored

Parameters:

	el	the EventListener to send the timer event to
	sid	the source ID to use on that event (if you need to send more info, send a pointer to a struct of your devising, typecasted as int)
	delay	the delay between the first (and future) calls
	repeat	set to true if you want to keep receiving this event, otherwise it will only send once

Definition at line 134 of file EventRouter.cc.

Referenced by ArmController::cmdRelax(), TextMsgTrans::doEvent(), SignalTrans< T >::doEvent(), LookAtMarkers::Search::doEvent(), LookAtMarkers::TrackMarker::doEvent(), GrasperNode::doEvent(), FlashIPAddrBehavior::doEvent(), CompletionTrans::doEvent(), BatteryMonitorBehavior::doEvent(), LookAtMarkers::Search::doStart(), LookAtMarkers::TrackMarker::doStart(), BatteryMonitorBehavior::doStart(), DualCoding::Lookout::executeRequest(), MoCapLogger::gotTxtMsgSingle(), EventProxy::handleRemoteRequest(), RecordMotionNode::preStart(), NullTrans::preStart(), ConnectionMadeTrans::preStart(), PostureEditor::processEvent(), DualCoding::Lookout::processPointAtEvent(), DualCoding::Lookout::processScanEvent(), DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::processTrackEvent(), SensorObserverControl::RTViewControl::refresh(), PostureEditor::refresh(), RemoteRouter::RemoteRouter(), TimeOutTrans::resetTimer(), FreeMemReportControl::resetTimerFreq(), RemoteRouter::sendRemoteRequest(), FlashIPAddrBehavior::setupSequence(), BatteryMonitorBehavior::startWarning(), TorqueCalibrate::TakeMeasurementControl::takeInput(), and DualCoding::Lookout::triggerScanMotionSequence().

void EventRouter::addTrapper

(

EventTrapper *

el

)

adds a trapper for ALL events

Note that since timers are not broadcast, they cannot be trapped. Only the EventListener which requested the timer will receive that timer.

Definition at line 431 of file EventRouter.cc.

void EventRouter::addTrapper	(	EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

Adds a trapper for a specific source id and type from a given event generator.

Note that since timers are not broadcast, they cannot be trapped. Only the EventListener which requested the timer will receive that timer.

Definition at line 421 of file EventRouter.cc.

void EventRouter::addTrapper	(	EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

Adds a trapper for all types from a specific source and generator.

Note that since timers are not broadcast, they cannot be trapped. Only the EventListener which requested the timer will receive that timer.

Definition at line 411 of file EventRouter.cc.

void EventRouter::addTrapper	(	EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid
	)

Adds a trapper for all events from a given event generator.

Note that since timers are not broadcast, they cannot be trapped. Only the EventListener which requested the timer will receive that timer.

Definition at line 402 of file EventRouter.cc.

void EventRouter::addTrapper	(	EventTrapper *	el,
		const EventBase &	e
	)

Adds a trapper for a specific source id and type from a given event generator.

Note that only the broadcasted timers can be trapped. The EventListener which requested the timer will receive that timer before any trapping is done.

Definition at line 393 of file EventRouter.cc.

Referenced by Controller::activate(), addTrapper(), and Controller::takeLine().

void EventRouter::chkTimers

(

)

[protected]

just for debugging

Definition at line 422 of file EventRouter.h.

void EventRouter::dispTimers

(

)

[protected]

just for debugging

Definition at line 433 of file EventRouter.h.

Referenced by chkTimers().

ThreadedMessageQueue<EventBase*>& EventRouter::getEventQueue

(

)

Returns the event queue, to be processed by a callback thread between other behavior processing.

This is similar to the forwarding agents which handles inter-process events (e.g. from Motion to Main) but in threaded environments (e.g. non-AIBO) we can use this more efficient mechanism. As we drop AIBO support we can transfer forwards to use queueEvent() instead.

To allow future expansion, please use queueEvent() instead of calling ThreadedMessageQueue::send directly via this accessor.

Definition at line 237 of file EventRouter.h.

EventTranslator* EventRouter::getForwardingAgent

(

ProcessID::ProcessID_t

proc

)

const

returns the forwarding agent for a given process/thread group (see forwards)

Definition at line 225 of file EventRouter.h.

unsigned int EventRouter::getNextTimer

(

)

returns time of next timer activation

Definition at line 289 of file EventRouter.h.

const EventRouter::TimerEntry * EventRouter::getNextTimerInfo	(	const EventListener *	el,
		size_t	sid
	)

Returns information of next activation for a specific event listener timer entry, NULL if none.

Don't try to use this to edit the timer entry, just call addTimer() again to reset the fields

Definition at line 186 of file EventRouter.cc.

const EventRouter::TimerEntry * EventRouter::getNextTimerInfo

(

const EventListener *

el

)

Returns information of next timer activation (regardless of sid) for an event listener, NULL if none.

Don't try to use this to edit the timer entry, just call addTimer() again to reset the fields

Definition at line 179 of file EventRouter.cc.

bool EventRouter::hasListeners

(

const EventBase &

e

)

counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...

Definition at line 273 of file EventRouter.h.

Referenced by hasListeners().

bool EventRouter::hasListeners	(	EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...

Definition at line 272 of file EventRouter.h.

bool EventRouter::hasListeners	(	EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...

Definition at line 271 of file EventRouter.h.

bool EventRouter::hasListeners

(

EventBase::EventGeneratorID_t

egid

)

counts both listeners and trappers, so generators can tell if it even needs to bother generating an event...

Definition at line 270 of file EventRouter.h.

Referenced by addListener(), addTrapper(), EventGeneratorBase::hasListeners(), removeListener(), and removeTrapper().

bool EventRouter::isListening	(	const EventListener *	el,
		const EventBase &	e
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 250 of file EventRouter.h.

bool EventRouter::isListening	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 249 of file EventRouter.h.

bool EventRouter::isListeningAll	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 248 of file EventRouter.h.

bool EventRouter::isListeningAll	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 247 of file EventRouter.h.

bool EventRouter::isListeningAny	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 246 of file EventRouter.h.

bool EventRouter::isListeningAny	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 245 of file EventRouter.h.

bool EventRouter::isTrapping	(	const EventTrapper *	el,
		const EventBase &	e
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 256 of file EventRouter.h.

bool EventRouter::isTrapping	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 255 of file EventRouter.h.

bool EventRouter::isTrappingAll	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 254 of file EventRouter.h.

bool EventRouter::isTrappingAll	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 253 of file EventRouter.h.

bool EventRouter::isTrappingAny	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 252 of file EventRouter.h.

bool EventRouter::isTrappingAny	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid
	)			const

returns true if the specified listener/trapper would receive any events that match the specified criteria

Definition at line 251 of file EventRouter.h.

EventRouter& EventRouter::operator=

(

const EventRouter &

)

[private]

don't call this

void EventRouter::postEvent

(

const EventBase &

e

)

posts the specified event, but doesn't delete it at the end -- equivalent to processEvent(e)

Definition at line 196 of file EventRouter.h.

void EventRouter::postEvent

(

EventBase *

e

)

deprecated -- pass by reference instead; this version posts the specified event and then deletes it after processing is complete

moving to pass by reference instead of pass by pointer to avoid questions about who deletes the event and the event's scope, also keeping the event on the stack is faster by avoiding unnecessary heap operations.

Definition at line 65 of file EventRouter.cc.

void EventRouter::postEvent	(	EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid,
		unsigned int	dur,
		const std::string &	n,
		float	m
	)

recommended to create and post an event using current buffer setting

Definition at line 190 of file EventRouter.h.

void EventRouter::postEvent	(	EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid,
		unsigned int	dur = 0
	)

recommended to create and post an event using current buffer setting

Definition at line 189 of file EventRouter.h.

Referenced by addListener(), addTrapper(), WMitem< T >::announce(), Controller::console_callback(), BallDetectionGenerator::createEvent(), MotionManager::doAddMotion(), SegmentedColorGenerator::doEvent(), RLEGenerator::doEvent(), RegionGenerator::doEvent(), RawCameraGenerator::doEvent(), PNGGenerator::doEvent(), PitchDetector::doEvent(), JPEGGenerator::doEvent(), InterleavedYUVGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), BehaviorBase::doEvent(), Transition::doFire(), Grasper::GrasperFailed::doStart(), Grasper::GrasperSucceeded::doStart(), NoOpEventTranslator::encodeEvent(), SoundManager::endPlay(), DualCoding::MapBuilder::executeRequest(), Grasper::executeRequest(), RandomTrans::fire(), RemoteRouter::forwardEvent(), SoundManager::play(), MotionCommand::postEvent(), StateNode::postStateCompletion(), StateNode::postStateSignal(), StateNode::postStateStart(), StateNode::postStateStop(), SoundManager::ProcessMsg(), MotionManager::processMsg(), processTimers(), WorldState::read(), removeListener(), MotionManager::removeMotion(), removeTrapper(), DualCoding::MapBuilder::requestComplete(), DualCoding::Lookout::requestComplete(), SoundManager::stopPlay(), Controller::takeLine(), WMitem_base::unwatch(), RemoteState::update(), and WMitem_base::watch().

int EventRouter::processData	(	char *	data,
		int	bytes
	)			[virtual]

This handles incomiung connection requests by starting a new EventProxy.

Implements SocketListener.

Definition at line 318 of file EventRouter.cc.

void EventRouter::processEvent

(

const EventBase &

e

)

[virtual]

sends event to its trappers & listeners, but doesn't delete the event at the end (see also postEvent())

this posting method is supplied to allow an EventRouter to behave as a listener as well -- the 'routers' really can form a sort of network, if desired. postEvent() is probably a more memnomic interface to use in direct function calls however, so that is the one you should call.

Implements EventListener.

Definition at line 487 of file EventRouter.cc.

Referenced by postEvent().

void EventRouter::processTimers

(

)

determines if timers need to be posted, and posts them if so.

Call this often to ensure accurate timers.

Todo:

handle recursive calls

Definition at line 75 of file EventRouter.cc.

void EventRouter::queueEvent

(

EventBase *

e

)

Uses a ThreadedMessageQueue to process an event at a later time, as opposed to postEvent() which will process the event immediately.

If an event generator is running in a background thread (e.g. DeviceDriver or a behavior thread), it can use this function to post events instead of grabbing the behaviorLock and calling postEvent directly. However, beware building up a backlog of stale events, you may prefer requeueEvent() to ensure only the most up-to-date data is in the queue The event will be processed after all current event processing is completed, similar to a 0-ms timer subscription. The event will be deleted after processing.

Definition at line 68 of file EventRouter.cc.

Referenced by requeueEvent().

RemoteRouter & EventRouter::remoteRouterForHost

(

int

host

)

[protected]

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 295 of file EventRouter.cc.

Referenced by addRemoteListener(), removeRemoteListener(), requestRemoteStateUpdates(), and stopRemoteStateUpdates().

void EventRouter::remove

(

const EventListener *

el

)

stops all events and timers, shorthand for removeListener(el) and removeTimer(el); Note that trappers are separate, removeTrapper() is not called

Definition at line 362 of file EventRouter.h.

Referenced by TorqueCalibrate::TakeMeasurementControl::deactivate(), MoCapLogger::gotMoCapSingle(), EventRouter::EventMapper::removeMapping(), BehaviorBase::stop(), and EventCallbackAs< MoCapEvent >::~EventCallbackAs().

void EventRouter::removeAllTimers

(

)

clears all timers for all listeners

Definition at line 173 of file EventRouter.cc.

Referenced by reset(), and ~EventRouter().

void EventRouter::removeListener	(	const EventListener *	el,
		const EventBase &	e
	)

Uses the generator, source, and type fields of e to remove a listener for that specific tuple.

Definition at line 383 of file EventRouter.cc.

void EventRouter::removeListener	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

stops sending specified events from the generator to the listener.

Definition at line 374 of file EventRouter.cc.

void EventRouter::removeListener	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

stops sending specified events from the generator to the listener.

Definition at line 362 of file EventRouter.cc.

void EventRouter::removeListener	(	const EventListener *	el,
		EventBase::EventGeneratorID_t	egid
	)

stops sending specified events from the generator to the listener.

Definition at line 353 of file EventRouter.cc.

void EventRouter::removeListener

(

const EventListener *

el

)

stops sending ALL events to the listener -- does not remove pending timers however (may need to call removeTimer(el) as well); see remove()

Definition at line 341 of file EventRouter.cc.

Referenced by ValueEditControl< T >::activate(), EventLogger::clearSlots(), WalkCalibration::deactivate(), PostureEditor::deactivate(), FlashIPAddrBehavior::doEvent(), SensorObserverControl::doSelect(), EventLogger::doSelect(), WorldStateSerializerBehavior::doStop(), WMMonitorBehavior::doStop(), SegCam::doStop(), RegionCam::doStop(), RawCam::doStop(), HeadController::doStop(), FreeMemReportControl::doStop(), FlashIPAddrBehavior::doStop(), EventGeneratorBase::doStop(), EchoBehavior::doStop(), DepthCam::doStop(), Controller::doStop(), CameraBehavior::doStop(), ArmController::doStop(), EventProxy::handleRemoteRequest(), LogNode::postStart(), TorqueCalibrate::TakeMeasurementControl::processEvent(), RunSequenceControl< SequenceSize >::processEvent(), LoadPostureControl::processEvent(), DualCoding::Lookout::processPointAtEvent(), DualCoding::Lookout::processScanEvent(), DualCoding::Lookout::processSearchEvent(), CameraStreamBehavior::receiveData(), remove(), removeRemoteListener(), EventGeneratorBase::removeSrcListener(), DualCoding::Lookout::requestComplete(), EventLogger::runCommand(), MCNodeBase::setMC(), CompletionTrans::stop(), TorqueCalibrate::TakeMeasurementControl::transition(), BehaviorBase::~BehaviorBase(), LoadPostureControl::~LoadPostureControl(), BehaviorBase::MonitorMotion::~MonitorMotion(), and RunSequenceControl< SequenceSize >::~RunSequenceControl().

void EventRouter::removeRemoteListener	(	const EventListener *	el,
		int	host,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 275 of file EventRouter.cc.

void EventRouter::removeRemoteListener	(	const EventListener *	el,
		int	host,
		const EventBase &	e
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 270 of file EventRouter.cc.

void EventRouter::removeRemoteListener	(	const EventListener *	el,
		int	host,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 263 of file EventRouter.cc.

void EventRouter::removeRemoteListener	(	const EventListener *	el,
		int	host,
		EventBase::EventGeneratorID_t	egid
	)

Stop getting remote events from the given robot.

Definition at line 256 of file EventRouter.cc.

Referenced by removeRemoteListener().

void EventRouter::removeTimer	(	const EventListener *	el,
		EventBase &	e
	)

clears any pending timers with source id matching that of e, but only if e has generator timerEGID

Definition at line 286 of file EventRouter.h.

Referenced by removeTimer().

void EventRouter::removeTimer	(	const EventListener *	el,
		size_t	sid
	)

clears any pending timers with source id sid for listener el

Definition at line 164 of file EventRouter.cc.

void EventRouter::removeTimer

(

const EventListener *

el

)

clears all pending timers for listener el; see remove()

Definition at line 155 of file EventRouter.cc.

Referenced by addTimer(), ArmController::cmdUnrelax(), SensorObserverControl::RTViewControl::deactivate(), PostureEditor::deactivate(), FlashIPAddrBehavior::doEvent(), EventProxy::handleRemoteRequest(), SensorObserverControl::RTViewControl::pause(), PostureEditor::pause(), RemoteRouter::processEvent(), PostureEditor::processEvent(), DualCoding::Lookout::processTrackEvent(), remove(), DualCoding::Lookout::requestComplete(), FreeMemReportControl::resetTimerFreq(), FlashIPAddrBehavior::setupSequence(), and BatteryMonitorBehavior::stopWarning().

void EventRouter::removeTrapper

(

const EventTrapper *

el

)

stops sending ALL events to the trapper

Definition at line 477 of file EventRouter.cc.

void EventRouter::removeTrapper	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid,
		EventBase::EventTypeID_t	etid
	)

stops sending specified events from the generator to the trapper.

Definition at line 467 of file EventRouter.cc.

void EventRouter::removeTrapper	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid,
		size_t	sid
	)

stops sending specified events from the generator to the trapper.

Definition at line 455 of file EventRouter.cc.

void EventRouter::removeTrapper	(	const EventTrapper *	el,
		EventBase::EventGeneratorID_t	egid
	)

stops sending specified events from the generator to the trapper.

Definition at line 446 of file EventRouter.cc.

void EventRouter::removeTrapper	(	const EventTrapper *	el,
		const EventBase &	e
	)

stops sending specified events from the generator to the trapper.

Definition at line 437 of file EventRouter.cc.

Referenced by Controller::deactivate(), removeTrapper(), and Controller::takeLine().

void EventRouter::requestRemoteStateUpdates	(	int	host,
		RemoteState::StateType	type,
		unsigned int	interval = 500
	)

Request remote state updates from the remote robot, every interval ms.

Definition at line 284 of file EventRouter.cc.

void EventRouter::requeueEvent

(

EventBase *

e

)

Places e in the same queue as queueEvent(), but removes any other events with the same generator and source first.

For sources only the current value is of significant interest (e.g. sensor readings) this avoids the possibility of a backlog of stale data forming in the case the Main thread blocks and falls behind on processing incoming data

Definition at line 70 of file EventRouter.cc.

void EventRouter::reset

(

)

erases all listeners, trappers and timers, resets EventRouter

Definition at line 183 of file EventRouter.h.

Referenced by ~EventRouter().

bool EventRouter::serveRemoteEventRequests

(

)

This is called once on startup; it tells the EventRouter to listen for incoming requests.

Definition at line 308 of file EventRouter.cc.

void EventRouter::setForwardingAgent	(	ProcessID::ProcessID_t	proc,
		EventTranslator *	trans
	)

sets the forwarding agent for a given process/thread group (see forwards)

Definition at line 482 of file EventRouter.cc.

void EventRouter::stopRemoteStateUpdates	(	int	host,
		RemoteState::StateType	type
	)

Stop getting remote state updates.

Definition at line 290 of file EventRouter.cc.

---

Member Data Documentation

const int EventRouter::defaultPort = 2424 [static]

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 336 of file EventRouter.h.

Referenced by RemoteRouter::RemoteRouter(), and serveRemoteEventRequests().

ThreadedMessageQueue<EventBase*>* EventRouter::eventQueue [protected]

A queue of events which have been posted from background threads or otherwise desire postponed processing.

This is a more efficient mechanism than forwards, but only available on threaded platforms (e.g. non-AIBO). See queueEvent() and getEventQueue()

Definition at line 566 of file EventRouter.h.

Referenced by getEventQueue(), queueEvent(), requeueEvent(), and ~EventRouter().

EventTranslator* EventRouter::forwards[ProcessID::NumProcesses] [protected]

This table will be checked on each processEvent to forward the event to some other destination.

The main reason for including this functionality is in the uni-process model, we don't want event postings from real time processes like Motion to block on the event queue processing. So with this mechanism we can intercept those events, and queue them in a separate IPC mechanism to be picked up by Main later on.

This might also be handy for other purposes, such as remote event forwarding over the network...

If the EventTranslator's trapEvent returns true, then further processing on the event is skipped. (see EventTranslator::setTrapEventValue() )

Definition at line 560 of file EventRouter.h.

Referenced by EventRouter(), getForwardingAgent(), processEvent(), setForwardingAgent(), and ~EventRouter().

EventMapper EventRouter::listeners [protected]

A mapping of which EventListener's should receive events.

Definition at line 527 of file EventRouter.h.

Referenced by addListener(), hasListeners(), isListening(), isListeningAll(), isListeningAny(), processEvent(), removeListener(), and reset().

int EventRouter::nextProxyPort [protected]

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 346 of file EventRouter.h.

Referenced by processData().

std::queue<PostingStatus*> EventRouter::postings [protected]

stores calls to post() currently in progress -- may grow if one postEvent() triggers another; this allows us to finish processing of the original postEvent() before starting the second.

Definition at line 548 of file EventRouter.h.

Referenced by processEvent().

std::list<EventProxy *> EventRouter::proxies [protected]

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 342 of file EventRouter.h.

Referenced by processData(), and ~EventRouter().

std::map<int, RemoteRouter *> EventRouter::rrouters [protected]

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 344 of file EventRouter.h.

Referenced by remoteRouterForHost(), and ~EventRouter().

Socket* EventRouter::sck [protected]

Request remote events to be sent to this robot, works like the regular addListeners.

Definition at line 345 of file EventRouter.h.

Referenced by processData(), and serveRemoteEventRequests().

std::vector<TimerEntry*> EventRouter::timers [protected]

the list of timer entries being maintained, kept sorted by time they go active

Definition at line 419 of file EventRouter.h.

Referenced by addTimer(), chkTimers(), dispTimers(), getNextTimer(), getNextTimerInfo(), processTimers(), removeAllTimers(), and removeTimer().

EventMapper EventRouter::trappers [protected]

A mapping of which EventTrapper's should get a chance to trap the event.

Definition at line 526 of file EventRouter.h.

Referenced by addTrapper(), hasListeners(), isTrapping(), isTrappingAll(), isTrappingAny(), processEvent(), removeTrapper(), and reset().

---

The documentation for this class was generated from the following files:

• EventRouter.h
• EventRouter.cc