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EventRouter.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_EventRouter_h #define INCLUDED_EventRouter_h #include <vector> #include <list> #include <map> #include <algorithm> #include "EventListener.h" #include "EventTrapper.h" #include "Shared/get_time.h" #include "Shared/debuget.h" #include <iostream> //! 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 @c ::erouter EventRouter to post and subscribe to * events, except if you are posting from within a MotionCommand, in * which case you should use MotionCommand::postEvent() so that it * will automatically be sent from the Motion process to the Main * process. * * When multiple listeners are subscribed, the order in which an event is * distributed among them looks like this: * -# "Specific" listeners: any listener which specifies a particular source id. * (It doesn't matter if they specify a type id or not.) * - older listeners get events before younger listeners * -# "General" listeners: those that subscribe to an entire generator * - older listeners get events before younger listeners * * ...but if you're relying on that ordering, there should be a cleaner * way to do whatever you're doing. * * If one behaviors unsubscribes another one during a processEvent(), * that behavior may still get the "current" event before the * unsubscription takes place. This is not a prescribed behavior, * and also should not be relied on one way or the other. * * Timer events are only sent to the generator which requested them. So if * EventListener @e A requests a timer with ID 0 at two second intervals, * and EventListener @e 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. All other events are broadcast. * * 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.\n * Example: EventListener @e A subscribes to (buttonEGID,*,*), and twice to * (buttonEGID,0,*). * - If button 0 is pressed, @e A will get three copies of the event. * - If button 1 is pressed, @e A will get one copy. * - If removeListener(&A,buttonEGID) is called, the (buttonEGID,*,*) is * removed, <em>as well as</em> both of (buttonEGID,0,*). * - If removeListener(&A,buttonEGID,0) is called, both of (buttonEGID,0,*) * are removed, but (buttonEGID,*,*) would be untouched. * * The buffered event distribution has not been tested thoroughly, * and should be considered deprecated. * * @see EventBase::EventGeneratorID_t for a complete listing of all generators, * as well as instructions on how to add new generators. */ class EventRouter : public EventListener { public: EventRouter(); //!< Constructs the router, #buffertime defaults to 1 virtual ~EventRouter() { reset(); removeAllTimers(); } //!< just calls reset and removeAllTimers() void reset() { listeners.clear(); trappers.clear(); removeAllTimers(); } //!< erases all listeners, trappers and timers, resets EventRouter void setBufferTime(unsigned int t) { buffertime=t; } /*!< @brief sets the time to wait between buffer clears, see EventRouter::buffertime. @param t time to wait between buffer clears @see buffertime */ unsigned int getBufferTime() { return buffertime; } /*!< @brief returns the time to wait between buffer clears, see EventRouter::buffertime. @return time to wait between buffer clears @see buffertime */ //!@name Posting/Processing Events /*!@brief recommended to create and post an event using current buffer setting */ void postEvent(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid, unsigned int dur) { if(buffertime>0) events.push_back(new EventBase(egid,sid,etid,dur)); else processEvent(EventBase(egid,sid,etid,dur)); } void postEvent(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid, unsigned int dur, const std::string& n, float m) { if(buffertime>0) events.push_back(new EventBase(egid,sid,etid,dur,n,m)); else processEvent(EventBase(egid,sid,etid,dur,n,m)); } void postEvent(EventBase* e) { if(buffertime>0) events.push_back(e); else { processEvent(*e); delete e; } } //! determines if timers need to be posted, and posts them if so. /*! Call this often to ensure accurate timers. Also, will clear event buffer before sending timer events in order to ensure correct ordering of event reception */ void processTimers(); void processEventBuffer(); //!< clears the event buffer, deletes events as it does so. void processEvent(const EventBase& e); //!< forces unbuffered - sends event *now*. Will clear the buffer first if needed to ensure proper event ordering //@} //!@name Listener/Trapper Recall //! returns true if the specified listener/trapper would receive any events that match the specified criteria bool isListeningAny(EventListener* el, EventBase::EventGeneratorID_t egid) { return listeners.verifyMappingAny(el,egid); } bool isListeningAny(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return listeners.verifyMappingAny(el,egid,sid); } bool isListeningAll(EventListener* el, EventBase::EventGeneratorID_t egid) { return listeners.verifyMappingAll(el,egid); } bool isListeningAll(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return listeners.verifyMappingAll(el,egid,sid); } bool isListening(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return listeners.verifyMapping(el,egid,sid,etid); } bool isListening(EventListener* el, const EventBase& e) { return listeners.verifyMapping(el,e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } bool isTrappingAny(EventTrapper* el, EventBase::EventGeneratorID_t egid) { return trappers.verifyMappingAny(el,egid); } bool isTrappingAny(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return trappers.verifyMappingAny(el,egid,sid); } bool isTrappingAll(EventTrapper* el, EventBase::EventGeneratorID_t egid) { return trappers.verifyMappingAll(el,egid); } bool isTrappingAll(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid) { return trappers.verifyMappingAll(el,egid,sid); } bool isTrapping(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return trappers.verifyMapping(el,egid,sid,etid); } bool isTrapping(EventTrapper* el, const EventBase& e) { return trappers.verifyMapping(el,e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } //@} //!@name Listener/Trapper Detection /*!@brief <b>counts both listeners and trappers</b>, so generators can tell if it even needs to bother generating an event...*/ /* Generators can also subscribe to the EventBase::erouterEGID event stream if * they wish to be notified when they gain or lose listeners (particularly the * first or last).\n * ... if a tree falls in a forest, and there's no one around to see it, does * it make a sound?\n * ... if Vision sees a ball in an image, and there's no listeners, does it * make an event? ;) */ bool hasListeners(EventBase::EventGeneratorID_t egid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid) || listeners.hasMapping(egid); } bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid,sid) || listeners.hasMapping(egid,sid); } bool hasListeners(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid) { return (egid==EventBase::timerEGID) ? timers.size()>0 : trappers.hasMapping(egid,sid,etid) || listeners.hasMapping(egid,sid,etid); } bool hasListeners(const EventBase& e) { return (e.getGeneratorID()==EventBase::timerEGID) ? timers.size()>0 : hasListeners(e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } //@} //!@name Timer Management void addTimer(EventListener* el, unsigned int 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) { addTimer(el,e.getSourceID(),e.getDuration(),repeat); } //!< calls the other addTimer() with the event's source id and duration, doesn't check to see if the generator is timerEGID void removeTimer(EventListener* el); //!< clears all pending timers for listener @a el void removeTimer(EventListener* el, unsigned int sid); //!< clears any pending timers with source id @a sid for listener @a el void removeAllTimers(); //!< clears all timers for all listeners //@} //!@name Listener Management //! Adds a listener for all events from a given event generator void addListener(EventListener* el, EventBase::EventGeneratorID_t egid); void addListener(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid); //!< Adds a listener for all types from a specific source and generator void addListener(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); //!< Adds a listener for a specific source id and type from a given event generator //! Adds a listener for a specific source id and type from a given event generator, adding a Timer event will invoke addTimer(@a el, @a e.getSourceID(), @a e.getDuration(), @c true) void addListener(EventListener* el, const EventBase& e); //! stops sending ALL events to the listener, including timers void removeListener(EventListener* el); //! stops sending specified events from the generator to the listener. void removeListener(EventListener* el, EventBase::EventGeneratorID_t egid); void removeListener(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid); //!< stops sending specified events from the generator to the listener. void removeListener(EventListener* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); //!< stops sending specified events from the generator to the listener. //! stops sending specified events from the generator to the listener. If a timer is passed it will invoke removeTimer(@a el, @a e.getSourceID()) void removeListener(EventListener* el, const EventBase& e); /*! @deprecated use removeListener(EventListener* el) instead * @brief deprecated, you should call removeListener(EventListener* el) instead */ void forgetListener(EventListener* el) __attribute__((deprecated)); //@} //!@name Trapper Management //! 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. */ void addTrapper(EventTrapper* el, const EventBase& e); 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, unsigned int sid); //!< Adds a trapper for all types from a specific source and generator void addTrapper(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int 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 //! stops sending specified events from the generator to the trapper. void removeTrapper(EventTrapper* el, const EventBase& e); void removeTrapper(EventTrapper* el, EventBase::EventGeneratorID_t egid); //!< stops sending specified events from the generator to the trapper. void removeTrapper(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid); //!< stops sending specified events from the generator to the trapper. void removeTrapper(EventTrapper* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); //!< stops sending specified events from the generator to the trapper. void removeTrapper(EventTrapper* el); //!< stops sending ALL events to the trapper //@} protected: void doSendBuffer(); //!< does the work of clearing the buffer (calls doSendEvent() ) //! does the work of sending an event /*! Be aware this is an O(n^2) where n is the number of listeners for a particular event. * This is because after each call to processEvent, the list of listeners could have changed * so each listener much be verified before it is sent an event. New listeners won't get the * current event, but neither should listeners which have just be removed */ void doSendEvent(const EventBase& e); //! Contains all the information needed to maintain a timer by the EventRouter struct TimerEntry { //! constructors an entry using the given value for next - useful for with TimerEntryPtrCmp explicit TimerEntry(unsigned int nxt) : el(NULL), sid(0), delay(0), next(nxt), repeat(false) {} //! constructs with the given values, sets next field automatically; see next TimerEntry(EventListener* e, unsigned int s, unsigned int d, bool r) : el(e), sid(s), delay(d), next(get_time()+delay), repeat(r) {} //! just does the default, i'm just being explicit since there's a pointer (no deep copy!) TimerEntry(const TimerEntry& t) : el(t.el), sid(t.sid), delay(t.delay), next(t.next), repeat(t.repeat) {} //! just does the default, i'm just being explicit since there's a pointer (no deep copy!) TimerEntry operator=(const TimerEntry& t) { el=t.el; sid=t.sid; delay=t.delay; next=t.next; repeat=t.repeat; return *this; } //! will reset timer /*! @param d the time from now when the timer should go off (in milliseconds) * @param r true if the timer should automatically repeat */ void Set(unsigned int d, bool r) { delay=d; repeat=r; next=get_time()+delay; } EventListener* el; //!< the listener to fire at unsigned int sid; //!< the source id to fire with unsigned int delay; //!< the delay until firing unsigned int next; //!< the time at which this timer will go off next bool repeat; //!< if true, will reset after firing, else will be deleted }; /*! @brief Used by STL to sort the timer list in order of activation time * @see EventRouter::timers */ class TimerEntryPtrCmp { public: //! Used by STL to sort the timer list in order of activation time; see timers /*! Since we remove NULLs before sorting, shouldn't need to check here (and I want to know if i'm wrong) * @return (a->next<b->next) */ bool operator()(const TimerEntry* const a, const TimerEntry* const b) const { return (a->next<b->next); } }; typedef std::vector<TimerEntry*>::iterator timer_it_t; //!< makes code more readable std::vector<TimerEntry*> timers; //!< the list of timer entries being maintained, kept sorted by time they go active //! just for debugging void chkTimers() { unsigned int last=0; for(timer_it_t it=timers.begin(); it!=timers.end(); it++) { if(last>(*it)->next) { dispTimers(); return; } last=(*it)->next; } } //! just for debugging void dispTimers() { std::cout << "out of order timers " << get_time() << " :\t"; unsigned int last=0; for(timer_it_t it=timers.begin(); it!=timers.end(); it++) { if(last>(*it)->next) std::cout << "##"; std::cout << (last=(*it)->next) << '\t'; } std::cout << std::endl; } std::vector<EventBase*> events; //!< used to store buffered events bool doSendBufferLock; //!< in case of recursive calls to processEventBuffer()/doSendBuffer() unsigned int lastBufClear; //!< time of last event buffer clear unsigned int buffertime; //!< The time between clearings of the buffer /*!< <li>0 will not use the buffer, events are routed upon posting * <li>1 will clear the buffer at next call to processTimers() or processEventBuffer() * <li>a larger value will cause a delay of that number of milliseconds since the last clearing */ //! Does the actual storage of the mapping between EventBase's and the EventListeners/EventTrappers who should receive them /*! Actually only stores void*'s, so it's more general than just Listeners or Trappers */ class EventMapper { public: //! constructor EventMapper(); void addMapping(void* el, EventBase::EventGeneratorID_t egid) { allevents[egid].push_back(el); } //!< Adds a listener for all events from a given event generator void addMapping(void* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); //!< Adds a listener for a specific source id and type from a given event generator //! Removes a listener for all events from a given event generator, returns true if something was actually removed /*! Doesn't necessarily remove the vector or mapping if this was the last listener, use clean() to do that */ bool removeMapping(void* el, EventBase::EventGeneratorID_t egid); //! Removes a listener for a specific source id and type from a given event generator, returns true if something was actually removed /*! Doesn't necessarily remove the vector or mapping if this was the last listener, use clean() to do that */ bool removeMapping(void* el, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); void clean(); //!<removes empty data structures for all event generators void clean(EventBase::EventGeneratorID_t egid); //!< removes empty data structures associated with a single event generator void clear(); //!<Resets the mapping //@{ //! so stuff can tell if it even needs to bother generating an event... /*! ... if a tree falls in a forest, and there's no one around to see it, does it make a sound?\n ... if Vision sees a ball in an image, and there's no listeners, does it make an event? ;) \n @return true if it has any listeners, false otherwise */ bool hasMapping(EventBase::EventGeneratorID_t egid); bool hasMapping(EventBase::EventGeneratorID_t egid, unsigned int sid); bool hasMapping(EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); //@} //! builds a list of all listeners which should receive the event, templated to typecast the pointers for you /*! @param e the key event * @param listeners upon return, the resulting list of listeners @a e maps to\n * @a listeners is not cleared prior to building, new listeners are pushed on end\n * Results are in the order: all specific matches first, all generator listeners second, in order they were added to the EventMapper.*/ template<class T> void getMapping(const EventBase& e, std::vector<T*>& listeners); //! Used to make sure that the specified listener exists for the given event /*! This is needed because after we call processEvent on a lister, we can't assume * that no other listeners have been modified - one listener could cause another * to turn off. If that has happened, we shouldn't send the event, even if it * was in the queue originally. */ bool verifyMapping(void * listener, const EventBase& e) { return verifyMapping(listener,e.getGeneratorID(),e.getSourceID(),e.getTypeID()); } //! Used to make sure that the specified listener exists for the given event /*! This is needed because after we call processEvent on a lister, we can't assume * that no other listeners have been modified - one listener could cause another * to turn off. If that has happened, we shouldn't send the event, even if it * was in the queue originally. */ bool verifyMapping(void * listener, EventBase::EventGeneratorID_t egid, unsigned int sid, EventBase::EventTypeID_t etid); //! Needed to complete EventRouter::isListening suite /*! Only checks #allevents */ bool verifyMappingAll(void * listener, EventBase::EventGeneratorID_t egid); //! Needed to complete EventRouter::isListening suite /*! Checks both #allevents and #filtered events */ bool verifyMappingAny(void * listener, EventBase::EventGeneratorID_t egid); //! Needed to complete EventRouter::isListening suite /*! Checks both #allevents and #filteredevents, must be found in all */ bool verifyMappingAll(void * listener, EventBase::EventGeneratorID_t egid, unsigned int sid); //! Needed to complete EventRouter::isListening suite /*! Checks both #allevents and #filteredevents, can be found in either */ bool verifyMappingAny(void * listener, EventBase::EventGeneratorID_t egid, unsigned int sid); protected: //! a mapping from source IDs (unsigned ints), each to a vector of pointers to listeners /*! main use in filteredevents @see filteredevents */ typedef std::map<unsigned int,std::vector<void*>,std::less<unsigned int> > SIDtoListenerVectorMap_t; //! an array of vectors of pointers to listeners... in other words, a vector of listener pointers for each generator std::vector<void*> allevents[EventBase::numEGIDs]; //! not for the faint of heart: a matrix of mappings to vectors of pointers to listeners SIDtoListenerVectorMap_t* filteredevents[EventBase::numEGIDs][EventBase::numETIDs]; private: EventMapper(const EventMapper&); //!< this shouldn't be called... EventMapper operator=(const EventMapper&); //!< this shouldn't be called... }; 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 }; //! a global router for cross communication, probably the most common usage, although perhaps there may be times you'd rather have multiple event routers for smaller sections extern EventRouter * erouter; /*! @file * @brief Describes EventRouter class, for distribution and trapping of events to listeners * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-2_3 $ * $Revision: 1.18 $ * $State: Exp $ * $Date: 2005/01/27 20:15:32 $ */ #endif

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